Odometry and drift

Writing your own dead reckoning from the flow sensor and the gyro, watching its error grow, calibrating the two largest causes out, and fixing the rest with a landmark.

Module U3University7 lessons

1. U3.1 Integrating velocity The odometry update, one step at a time, and what the step size costs you.
2. U3.2 Write your own odometry flow() and imu() in, a pose out, in about ten lines. Then check it against the truth.
3. U3.3 How the error grows Noise walks, bias marches, scale stretches, and a heading error rotates everything after it.
4. U3.4 Calibration Measuring the gyro bias and the flow scale, and taking both out of the estimate.
5. U3.5 A fix from a landmark Dead reckoning between landmarks, and a reset whenever something known comes into view.
6. U3.6 An error budget Predicting how far out you will be before you drive, which is what covariance is for.
7. U3.7 Project: the long lap Two metres of driving, one landmark, and an estimate that has to stay honest.