On 10:34, the right hand side of the equation. Shouldnt there be only the first term without the minus, leaving away the bias term, because its already included in the left side?
Good eye. I believe the issue here is he explained things a little wrong. That Bu does not come from tau c. It comes from our *estimated* range. Remember, we are not estimating our position, like said in the video. We are estimating our position *AND* our clock bias. So the total estimated range is ||r_u || + CB . So our TOTAL estimated range is due to both components. He moved the estimated clock bias term to the right hand side, which is where that came from. I hope that helps.
@@cabdolla weird that Bu does not come from tau_c. It implies that the value we put in tau_c already has the clock bias removed which we couldn't do at the beginning since the clock bias is what we're solving for.
well done!
This is one of the best explenations I've seen. Also....your voice is so nice!
On 10:34, the right hand side of the equation. Shouldnt there be only the first term without the minus, leaving away the bias term, because its already included in the left side?
Good eye. I believe the issue here is he explained things a little wrong. That Bu does not come from tau c. It comes from our *estimated* range. Remember, we are not estimating our position, like said in the video. We are estimating our position *AND* our clock bias. So the total estimated range is ||r_u || + CB . So our TOTAL estimated range is due to both components. He moved the estimated clock bias term to the right hand side, which is where that came from. I hope that helps.
@@cabdolla weird that Bu does not come from tau_c. It implies that the value we put in tau_c already has the clock bias removed which we couldn't do at the beginning since the clock bias is what we're solving for.
@@cabdolla understood where Bu came from , but why minus sign for other term on rught hand side?
Why is there a negative on the right hand side?