Windowed multiscan optimization using weighted least squares for improving localization accuracy of mobile robots

Ovchinnikov, George; Pavlov, Artem L.; Tsetserukou, Dzmitry

doi:10.1007/s10514-018-9763-0

Cited by 5 publications

(1 citation statement)

References 14 publications

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“…Luo et al [7] proposed a calibration method based on the trajectory characteristics of the trolley's straight-line driving and in-situ rotation. Ovchinnikov et al [8] proposed an algorithm that uses additional correspondence between laser scanners to improve the accuracy of trajectory estimation, and conducted a quantitative analysis of the accuracy. Zhang et al [9] proposed a hybrid symbol distance field (SDF) framework that combines Euclidean SDF (ESDF) and truncated SDF (TSDF).…”

Section: Introductionmentioning

confidence: 99%

Positioning accuracy estimation of spacecraft simulator based on Monte Carlo and Anderson-Darling test

Wei

2023

J. Phys.: Conf. Ser.

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In aerospace ground test system, positioning accuracy estimation of spacecraft simulator has an important influence on the trajectory planning and obstacle avoidance optimization. In this study, the fusion strategy of multi-laser-ranging-sensors is used to analyse the principle of laser ranging in the positioning of spacecraft simulator. On this basis, effect of measurement error on the positioning accuracy of spacecraft simulator is analysed, and theoretical derivation are performed. In order to accurately estimate the positioning accuracy, the algorithm based on Monte Carlo and Anderson-Darling test are introduced. Finally, simulations and experiments were conducted for the above algorithm. The result shows that the fusion strategy of multi-laser ranging sensors is reasonable. Compared with traditional positioning and accuracy estimation methods of spacecraft simulator, the proposed method is more precise for the accuracy estimate and is more convenient for engineers to use.

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Section: Introductionmentioning

confidence: 99%