Misalignment Error Computation
Date:
The measurement model is given by
Form a small rotation perturbation on the left of the “base” alignment rotation.
According to the relative orientation of the sensors, the “base” alignment rotation can be approximated by
Compute the partial derivative of the measurement model w.r.t. the angle perturbation.
Compute the derivative along the directions of each basis
Stacking the three directional derivatives together yields
Note that, as described here, the model coefficients
The final result is