You explain well so what I never understood is how the Jacobians aren't the first derivatives themselves?
Also if you have happen to have any suggestions for linear algebra for someone who uses it without really understanding it (I can write a measurement function for an EKF from scratch OK, but I don't really understand why the maths does what it does) I would really appreciate it.
Also if you have happen to have any suggestions for linear algebra for someone who uses it without really understanding it (I can write a measurement function for an EKF from scratch OK, but I don't really understand why the maths does what it does) I would really appreciate it.