VINS中的加速度-位移公式

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VINS中的加速度-位移公式

p(t2)=p(t1)+t1t2v(τ)dτ v(τ)=v(t1)+t1τa(ζ)dζ p(t2)=p(t1)+t1t2v(τ)dτ=p(t1)+t1t2(v(t1)+t1τa(ζ)dζ)dτ=p(t1)+v(t1)Δt+t1t2t1τa(ζ)dζdτ

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