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. 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 functions like the moment of inertia or the Laplace transform — enabling many error propagation calculations to be performed by hand in closed-form.
General Solution for Linearized Error Propagation in Vehicle Odometry
01.01.2003
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
General solution for linearized systematic error propagation in vehicle odometry
Tema Archiv | 2001
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