This note presents a concise mathematical formulation of tightly-coupled LiDAR-Inertial Odometry within an iterated error-state Kalman filter framework using a VoxelMap representation. Rather than proposing a new algorithm, it provides a clear and self-contained derivation that unifies the geometric modeling and probabilistic state estimation through consistent notation and explicit formulations. The document is intended to serve both as a technical reference and as an accessible entry point for a foundational understanding of the system architecture and estimation principles.

翻译：本文提出了一种简洁的数学公式化表达，用于在基于VoxelMap表征的迭代误差状态卡尔曼滤波框架内实现紧耦合激光雷达惯性里程计。本文并非提出新算法，而是通过一致的符号体系和显式公式，给出清晰且自包含的推导过程，统一了几何建模与概率状态估计。本文档旨在作为技术参考，同时为系统架构与估计原理的基础理解提供易于入门的切入点。