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I need it thank you very much

want to use EKF_15State_quat,but I have some problem,why select F and G matrix like this?could you tell me some reference paper ，so I can to understand it easy.
// JACOBIAN
F = mat_fill(F,...

I want to use EKF_15State_quat,but I have some problem,why select F and G matrix like this?could you tell me some reference paper ，so I can to understand it easy.
// JACOBIAN
F = mat_fill(F,...