Odometry noise

This modifier allows to simulate two common issues when calculating odometry :

  • an error in the scale factor used to compute the distance from the value returned by the odometer (parameter factor)
  • the gyroscope natural drift (parameter gyro_drift (rad by tick))

Files

  • Python: $MORSE_ROOT/src/morse/modifiers/odometry_noise.py

Modified data

The modifier only accumulate errors for a 2D odometry sensor. It modifies so the following variables :

  • dS by the scale factor
  • dx considering the scale factor and gyroscope drift
  • dy considering the scale factor and gyroscope drift
  • dyaw considering the gyroscope drift
  • x considering the scale factor and gyroscope drift
  • y considering the scale factor and gyroscope drift
  • yaw considering the gyroscope drift
  • vx considering the new dx
  • vy considering the new dy
  • wz considering the new dyaw

Available methods

  • noisify: Simulate drift of gyroscope and possible error in the scale factor

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