From f33c6522fb25a493ad884fb17290f30103360867 Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Thu, 3 Oct 2024 23:51:44 -0400 Subject: [PATCH] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index a494188..66ecdd4 100644 --- a/README.md +++ b/README.md @@ -36,19 +36,19 @@ Process model: velocity: -$$ v_k = v_{k-1} + aT - \hat{a}_{k-1}T $$ +$ v_k = v_{k-1} + aT - \hat{a}_{k-1}T $ displacement: -$$ y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2 $$ +$ y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2 $ displacement_integral: -$$ z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3 $$ +$ z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3 $ accelerometer bias: -$$ \hat {a} _k = \hat {a} _{k-1} $$ +$ \hat {a} _k = \hat {a} _{k-1} $ ### Implementation Notes