$\Large \displaystyle \frac{d}{dt}q_n^b=\frac{1}{2}q_n^b*[\vec{\omega}^b]_q$
$\Large \displaystyle [\vec{\omega}^b]_q= \begin{bmatrix} 0 \\ \vec{\omega}^b \\ \end{bmatrix} $
$\Large \displaystyle \frac{d}{dt}q_n^b=\frac{1}{2} \begin{bmatrix} q_0 \\ \vec{q}_n^b \\ \end{bmatrix} * \begin{bmatrix} 0 \\ \vec{\omega}^b \\ \end{bmatrix}$
$\Large \displaystyle = \frac{1}{2} \begin{bmatrix} 0p_0 - \vec{q}_n^b \cdot \vec{\omega}^b\\ 0\vec{q}_n^b + q_0\vec{\omega}^b+ \vec{q}_n^b \times \vec{\omega}^b\\ \end{bmatrix} $
$\Large \displaystyle = \frac{1}{2} \begin{bmatrix} - \vec{q}_n^b \cdot \vec{\omega}^b\\ q_0\vec{\omega}^b - \vec{\omega}^b \times \vec{q}_n^b\\ \end{bmatrix} $
$\Large \displaystyle \dot{\vec{\omega}}_{bias}= \begin{bmatrix} -\beta_x & 0 & 0\\ 0 & -\beta_y & 0 \\ 0 & 0 & -\beta_z \\ \end{bmatrix} \vec{\omega}_{bias} +\vec{w}$
$\Large \displaystyle $
$\Large \displaystyle \{ x_{t_0}^{(n)}\}_{n\in [1,...,N]}$
$\Large \displaystyle \forall n\ x_i^{(n)}\sim p(x_t^{(n)}|x_{t-1}^{(n)})$
$\Large \displaystyle \mu_t^{(n)}=p(y_t|x_t^{(n)})$
$\Large \displaystyle \tilde{\mu}_t^{(n)}=\frac{\mu_t^{(n)}}{\sum_{n=1}^N\mu_t^{(n)}}$
$\Large \displaystyle \forall n\ c_t^{(n)}\sim Categorical(c_t^{(n)}|)$
$\Large \displaystyle x_t^{(n)}=c_t^{(n)^T} \begin{pmatrix} x_t^{(1)} \\ \vdots \\ x_t^{(N)} \end{pmatrix} $
$\large \displaystyle \large 1:Algorithm Particle_filter(X_{t-1},u_t, z_t):\\ \large 2:\ \ \ \bar{X_t}=X_t = 0\\ \large 3:\ \ \ for\ M=1\ to\ M\ do\\ \large 4:\ \ \ \ \ \ sample\ x_t^{[m]}\sim p(x_t|u_t, x_{t-1}^{[m]})\\ \large 5:\ \ \ \ \ \ w_t^{[m]}=p(z_t|x_{t}^{[m]})\\ \large 6:\ \ \ \ \ \ \bar{X_t}=\bar{X_t}+\lt x_t^{[m]},w_t^{[m]}\gt\\ \large 7:\ \ \ endfor\\ \large 8:\ \ \ for\ M=1\ to\ M\ do\\ \large 9:\ \ \ \ \ \ draw\ i\ with \ probalility\propto w_t^{[i]}\\ \large 10:\ \ \ \ add\ x_t^{[i]}\ to\ X_t\\ \large 11:\ endfor\\ \large 12:\ return\ X_t $
UUID:「cba20d00-224d-11e6-9fb8-0002a5d5c51b」