IKFoM Understanding
Posted: January 01, 2025
Understanding of IKFoM in-depth involves the following topics:
1. State Representation
2. Filter Core Components
3. Manifold Operations
4. Measurement Integration
5. Implementation Architecture
6. Initialization and Configuration
State manifold structure (state_ikfom):
prefix understanding of SO3 (special orthogonal group in 3d):
- State manifold structure (state_ikfom)
- Error state concept
- Handling different state types (position, rotation, biases)
- Prediction step implementation
- Update step mechanics
- Covariance propagation
- Noise modeling and handling
- SO3 (3D rotation) operations
- S2 (unit sphere) operations
- Vector space operations
- State composition
- Dynamic share model concept
- Measurement updates
- LiDAR-IMU fusion specifics
- Innovation computation
- Template metaprogramming usage
- Class structure and inheritance
- Memory management
- Optimization techniques
- State initialization
- Parameter setup
- Noise covariance configuration
- System calibration