Self-calibration of AGV inertial-odometric navigation using absolute-reference measurements

This paper describes the 'self calibration' algorithm and procedure for a navigation system suited for Autonomous Guided Vehicles uses an inertial-odometric navigation system together with an absolute navigation system. In the algorithm proposed no external measurement systems or off-line measurements are needed thus minimising the time and costs of the installation procedure. The method is explained by describing the navigation model and identifying the parameters that need to be calibrated. The detailed algorithm that makes it possible to uncouple the different parameters, and thus maximising accuracy, is then shown. Finally, an experimental example using a mock-up of an industrial robot is given.