A theoretical error in the code
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- MATLAB
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Description
alpha = Hx * Pxminus * Hx' + Hx * Pxyminus * Hy' + Hy * Pxyminus * Hx' + Hy * Pyminus * Hy' + R;
According to the theoretical derivation
in this part ,the third term -- Hy * Pxyminus * Hx' -- is supposed to be -- Hy * Pxyminus' * Hx' --
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