I am learning the EKF algorithm.
I have seen the https://github.com/priseborough/InertialNav/blob/master/derivations/SymbolicOutput24.txt
as this article said, the predict state is X(k+1|k)= F* X(k|k),
so q0 = q0 - 0.5 * (dax * q1 + day * q2 + daz * q3) + q1 * dax_b + q2 * day_b+ q3 * daz_b;
but we all know q0 = q0 - 0.5 * (dax * q1 + day * q2 + daz * q3).
Does anyone know what is wrong about my understanding?