Inertial Sensing, GPS and Odometry

Dudek, G.; Jenkin, M.

doi:/10.1007/978-3-319-32552-1_29

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Inertial Sensing, GPS and Odometry

Dudek, G.; Jenkin, M. (2016). Inertial Sensing, GPS and Odometry, in: Siciliano, B. et al. Springer handbook of robotics. pp. 737-752. https://dx.doi.org/10.1007/978-3-319-32552-1_29

In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1

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Dudek, G. Jenkin, M.

Abstract

This chapter examines how certain properties of the world can be exploited in order for a robot or other device to develop a model of its own motion or pose (position and orientation) relative to an external frame of reference. Although this is a critical problem for many autonomous robotic systems, the problem of establishing and maintaining an orientation or position estimate of a mobile agent has a long history in terrestrial navigation.

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