Regarding the problem of algorithm positioning drift when the drone stops suddenly

[19855179496]

When the drone suddenly stops at 10m/s, the positioning of the algorithm will drift a certain distance left and right in the flight direction, and will be corrected back after a while. But why is this drift problem and how can it be solved?

[kennyjchen]

This is probably due to the geometric observer we're using, which fuses IMU and LiDAR scan matching together through a prediction/update cycle.