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.


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    Titel :

    General Solution for Linearized Error Propagation in Vehicle Odometry


    Beteiligte:
    Kelly, Alonzo (Autor:in)

    Erschienen in:

    Robotics Research ; 11 ; 545-558


    Erscheinungsdatum :

    01.01.2003


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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