منابع مشابه
Linearized Error Propagation in Odometry
The related fields of mobile robotics and ground vehicle localization lack a linearized theory of odometry error propagation. By contrast, the equivalent Schuler dynamics which apply to inertial guidance have been known and exploited for decades. In this paper, the general solution of linearized propagation dynamics of both systematic and random errors for vehicle odometry is developed and vali...
متن کاملAlonzo Kelly Linearized Error Propagation in Odometry
The related fields of mobile robotics and ground vehicle localization lack a linearized theory of odometry error propagation. By contrast, the equivalent Schuler dynamics which apply to inertial guidance have been known and exploited for decades. In this paper, the general solution of linearized propagation dynamics of both systematic and random errors for vehicle odometry is developed and vali...
متن کاملGeneral Solution for Linearized Error Propagation in Vehicle Odometry
Although odometry is nonlinear, it yields sufficiently to linearized analysis to produce a closed-form transition matrix and a symbolic general solution for both deterministic and stochastic error propagation. Accordingly, error propagation in vehicle odometry can be understood at a level of theoretical rigor equivalent to the well-known Schuler dynamics of inertial navigation. While response t...
متن کاملGeneral solution for linearized systematic error propagation in vehicle odometry
Vehicle odometry is a nonlinear dynamical system in eche-lon form. Accordingly, a general solution can be written by solving the nonlinear equations in the correct order. Another implication of this structure is that a completely general solution to the linearized (perturbative) dynamics exists. The associated vector convolution integral is the general relationship between output error and both...
متن کاملGeneral Solution for Linearized Stochastic Error Propagation in Vehicle Odometry
Abstract: Although odometry is nonlinear, it yields sufficiently to linearized analysis to produce a closed-form transition matrix and a symbolic general solution for both deterministic and stochastic error propagation. The implication is that vehicle odometry can be understood at a level of theoretical rigor that parallels the well-known Schuler oscillation of inertial navigation error propaga...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2004
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364904041326