Linearized error propagation in odometry
Linearized error propagation in odometry
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DOI：
10.1177/0278364904041326
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发表时间：
2004-02-01
影响因子：
9.2
通讯作者：
Kelly, A
中科院分区：
文献类型：
--
作者：
Kelly, A
移动的机器人和地面车辆定位的相关领域缺乏里程误差传播的线性化理论。相比之下，应用于惯性制导的等效舒勒动力学已经为人们所知，并已开发了几十年。本文给出了车辆里程计系统误差和随机误差线性化传播动力学的一般解，并进行了验证。相关的积分变换的任务，引出几种形式的里程计的误差的主要动态行为。有趣的行为包括路径独立性、对对称输入的响应、零点、极值、单调性和守恒性。应用系统理论，系统设计和校准说明。
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 validated. The associated integral transforms are applied to the task of eliciting the major dynamic behaviors of errors for several forms of odometry. Interesting behaviors include path independence, response to symmetric inputs, zeros, extrema, monotonicity and conservation. Applications to systems theory, systems design, and calibration are illustrated.