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How the poineer astimate its position in the world?

Hello,

I have been using the Pioneer3AT and I run RosAria in order to get its position but I never understand how ti finds the position and what is the world reference frame to it. When I looked for the explenation I found the following:

(This pose estimation is calculated by the robot firmware as ARIA based on wheel odometry, and if preset, the optional internal gyroscope.) I didn't understand it ?? can any one explain please ?

How the poineer astimate its position in the world?

Hello,

I have been using the Pioneer3AT and I run RosAria in order to get its position but I never understand how ti finds the position and what is the world reference frame to it. When I looked for the explenation I found the following:

(This pose estimation is calculated by the robot firmware as ARIA based on wheel odometry, and if preset, the optional internal gyroscope.) gyroscope.)

I also found this as comments in the code of Aria

  • This position is updated by data reported by the robot as it
  • moves, and may also be changed by other program components,
  • such as a localization process (see moveTo()). *
  • This position is also referred to as the robot's
  • "odometry" or "odometric" pose, since the robot
  • uses its odometry data to determine this pose; but it
  • may also incorporate additional data sources such as
  • an onboard gyro. The term "odometric pose" also
  • distinguishes this position by the fact that its
  • coordinate system may be arbitrary, and seperate
  • from any external coordinate system.

I didn't understand it ?? is the (0,0) position is the point where we place the robot and we first open it ?? can any one explain please ?