Odometry Calibration of a Chassis with Differential Steering

摘要

The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.