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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    Title :

    General Solution for Linearized Error Propagation in Vehicle Odometry


    Contributors:


    Publication date :

    2003-01-01


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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