Inquiry about the Zero Element in the Measurement Jacobian Matrix \(H_n\) #93
Description
Hello, I have some question on Eq. 37. In the section where the measurement Jacobian matrix (H_n) is defined, specifically in the formula (H_{n}=A\left[\begin{array}{lllllll} 0 & R_{n}^{IMUT} & 0 & -\left(p_{n}^{c}\right)_{\times} & 0 & B & C\end{array}\right]), I am puzzled about why the first term corresponding to (R_n^{IMU}) is zero.
As we know, the velocity (v_n^c) is expressed as (v_{n}^{c}=R_{n}^{c T} R_{n}^{IMUT} v_{n}^{IMU}+\left(\omega_{n}\right) \times p_{n}^{c}), which clearly involves the rotation matrix (R_n^{IMU}). Intuitively, one might expect that changes in (R_n^{IMU}) would have an impact on the measurement vector (y_n). But in the construction of (H_n), the derivative of (y_n) with respect to (R_n^{IMU}) seems to be zero.
Are there any specific assumptions or physical interpretations that I might have missed?
Thank you very much for your time and consideration.