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cs:localization:sensors:start [2017/01/25 18:48] Brian Moore Depth Sensors |
cs:localization:sensors:start [2017/09/03 13:52] (current) Brian Moore [Translational and Rotational Acceleration] |
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| Line 271: | Line 271: | ||
| $$ | $$ | ||
| - | a_x = (0 * \dot{\psi}^2) + (p_z * \dot{\phi}^2) + (-p_y * \dot{\theta}^2) \\ | + | a_x = (0 * \ddot{\psi}) + (p_z * \ddot{\phi}) + (-p_y * \ddot{\theta}) \\ |
| - | a_y = (-p_z * \dot{\psi}^2) + (0 * \dot{\phi}^2) + (p_x * \dot{\theta}^2) \\ | + | a_y = (-p_z * \ddot{\psi}) + (0 * \ddot{\phi}) + (p_x * \ddot{\theta}) \\ |
| - | a_z = (p_y * \dot{\psi}^2) + (-p_x * \dot{\phi}^2) + (0 * \dot{\theta}^2) \\ | + | a_z = (p_y * \ddot{\psi}) + (-p_x * \ddot{\phi}) + (0 * \ddot{\theta}) \\ |
| $$ | $$ | ||
| Line 617: | Line 617: | ||
| = | = | ||
| \begin{bmatrix} | \begin{bmatrix} | ||
| - | D_1z \\ | + | D_{1z} \\ |
| - | D_2z \\ | + | D_{2z} \\ |
| - | D_3z \\ | + | D_{3z} \\ |
| - | D_4z \\ | + | D_{4z} \\ |
| \end{bmatrix} | \end{bmatrix} | ||
| $$ | $$ | ||
