Adding document equations for aiding and driving systems

- Adding equations for aiding system and driving system
orientation estimation
- changed equation formating

Change-Id: I913ae44de5fa30ee8c4a91aa3a62a7ff93f0588d

diff --git a/src/sensor_fusion/design/documentation/equation/equation_12.png b/src/sensor_fusion/design/documentation/equation/equation_12.png
new file mode 100755 (executable)
index 0000000..700136a
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_13.png b/src/sensor_fusion/design/documentation/equation/equation_13.png
new file mode 100755 (executable)
index 0000000..3d11c26
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_14.png b/src/sensor_fusion/design/documentation/equation/equation_14.png
new file mode 100755 (executable)
index 0000000..19553b2
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_15.png b/src/sensor_fusion/design/documentation/equation/equation_15.png
new file mode 100755 (executable)
index 0000000..1a08d95
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_16.png b/src/sensor_fusion/design/documentation/equation/equation_16.png
new file mode 100755 (executable)
index 0000000..4d35cfe
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_17.png b/src/sensor_fusion/design/documentation/equation/equation_17.png
new file mode 100755 (executable)
index 0000000..c2e4331
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diff --git a/src/sensor_fusion/design/documentation/equation/equation_18.png b/src/sensor_fusion/design/documentation/equation/equation_18.png
new file mode 100755 (executable)
index 0000000..9ce2774
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diff --git a/src/sensor_fusion/design/documentation/sensor_fusion.htm b/src/sensor_fusion/design/documentation/sensor_fusion.htm
index eb31730..af5b786 100755 (executable)
--- a/src/sensor_fusion/design/documentation/sensor_fusion.htm
+++ b/src/sensor_fusion/design/documentation/sensor_fusion.htm
@@ -76,37 +76,37 @@ Estimation.</FIGCAPTION>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_1.png" width="35%" height="5%">
+<img src="./equation/equation_1.png" width="35%" height="4%">
 </center>
 </FIGURE>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_2.png" width="35%" height="6%">
+<img src="./equation/equation_2.png" width="35%" height="5%">
 </center>
 </FIGURE>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_3.png" width="35%" height="10%">
+<img src="./equation/equation_3.png" width="35%" height="9%">
 </center>
 </FIGURE>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_4.png" width="35%" height="10%">
+<img src="./equation/equation_4.png" width="35%" height="9%">
 </center>
 </FIGURE>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_5.png" width="35%" height="10%">
+<img src="./equation/equation_5.png" width="35%" height="8%">
 </center>
 </FIGURE>
 
 <FIGURE>
 <center>
-<img src="./equation/equation_6.png" width="35%" height="5%">
+<img src="./equation/equation_6.png" width="35%" height="4%">
 </center>
 </FIGURE>
 
@@ -143,15 +143,49 @@ Estimation.</FIGCAPTION>
 </center>
 </FIGURE>
 
+<FIGURE>
+<center>
+<img src="./equation/equation_12.png" width="35%" height="3.5%">
+</center>
+</FIGURE>
+
+<FIGURE>
+<center>
+<img src="./equation/equation_13.png" width="35%" height="3%">
+</center>
+</FIGURE>
+
+<FIGURE>
+<center>
+<img src="./equation/equation_14.png" width="35%" height="4%">
+</center>
+</FIGURE>
+
+<h3>Orientation Computation Based on Driving System</h3>
+
+<FIGURE>
+<center>
+<img src="./equation/equation_15.png" width="35%" height="3.5%">
+</center>
+</FIGURE>
 
-<h3>Driving System</h3>
+<FIGURE>
+<center>
+<img src="./equation/equation_16.png" width="35%" height="6%">
+</center>
+</FIGURE>
 
+<FIGURE>
+<center>
+<img src="./equation/equation_17.png" width="35%" height="4%">
+</center>
+</FIGURE>
 
-<p>The accelerometer and geomagnetic sensor data are corrected
-for noise and compensated for static bias. Accelerometer is used to compute
-tilt (pitch and roll). The geomagnetic sensor along with the computed tilt data
-is used compute yaw. The computed Euler angles (pitch, roll and yaw) are
-converted to quaternions.</p>
+<FIGURE>
+<center>
+<img src="./equation/equation_18.png" width="35%" height="6%">
+</center>
+</FIGURE>
 
 <h3>Noise Covariance Computation</h3>