Application of Measurement Error Propagation Theory to Two Measurement SystemsUsed to Calculate the Position and Heading of a Vehicle on a Flat Surface

摘要

The work applies known results on the propagation of measurement error statisticsto two types of measurement systems, an angle measuring system and a length measuring system. Such systems can be used to measure the position and heading of a vehicle (or any rigid object) on a flat surface. For example, one might need to sense position and heading of a vehicle in order to control its motion. The functional relationships to go from angle and length measurements to position and heading are discussed and derived. Measurement error propagation theory is given in a way that can apply to any measurement system. The theory thus described is applied to the two types of measurement systems. Specific examples of these systems are given. The stated examples are currently being used by the US Bureau of Mines (BOM) to measure the position and heading of certain underground coal mining machines in an effort to move equipment operators away from the more dangerous areas of the mine. Simulation results for these specific examples in the form of density maps are given which plot the error in position and heading for various positions (heading constant) of the vehicle.