dead reckoning algorithms / solutions
September 13, 2011
Me again, flogging a (hopefully not) dead horse.
I wonder if anyone can provide links/guidance/code/insight into dead reckoning programming using the various (relatively) low cost components available to us.
I am thinking of things such as gyroscopes, accelerometers, magnometers etc. At this point I am excluding wheel encoders (since my vehicle is tracked and suffers from slipping tracks) or any form of external input such as beacons or gps etc.
I imagine one should be able to calculate your position if you know the direction and duration of any acceleration. The maths is a little difficult for me as any studies are a good 15+ years ago. I am sure there is some differentiation/integration required to determine change in distance while accelerations is occuring.
I am aware there will be drift due to the resolution or accuracy of your components.
I don't think this question needs information on any specific bot since it should be self contained.
Am I looking at a complicated solution or is this something that is achievable?
Thanks guys & gals
PS. for those interested in dead reckoning using encoders the wiki page http://en.wikipedia.org/wiki/Dead_reckoning has some equasions you may find usefull under the heading 'Differential drive dead reckoning'.