Localization with Directional Coordinates
Charles Champagne Cossette,Mohammed Shalaby,David Saussié,James Richard Forbes,Charles Champagne Cossette,Mohammed Shalaby,David Saussié,James Richard Forbes
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x, y, z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, unlike spherical coordinates, the proposed coordinates do not suffer from the same kinematic singularities and angle wraparound. When compared to Cartesian coo...
