General Solution for Linearized Error Propagation in Vehicle Odometry
نویسنده
چکیده
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 to initial conditions is path-independent, response to input errors can be related to path functionals. These trajectory moments are integral transforms which function like the moment of inertia or the Laplace transform-enabling many error propagation calculations to be performed by hand in closed-form.
منابع مشابه
General 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...
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 کاملLinearized 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 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 کاملIncorporating a Wheeled Vehicle Model in a New Monocular Visual Odometry Algorithm for Dynamic Outdoor Environments
This paper presents a monocular visual odometry algorithm that incorporates a wheeled vehicle model for ground vehicles. The main innovation of this algorithm is to use the single-track bicycle model to interpret the relationship between the yaw rate and side slip angle, which are the two most important parameters that describe the motion of a wheeled vehicle. Additionally, the pitch angle is a...
متن کامل