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Armadillo Calibration
Odometri constants
It is asumed that the tuningpoint for the belts is the center of the belts.
c<sub>l<\sub> = 0.00348377 cr = 0.003193242 w = 1.68336
UMB-mark test
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BEFORE CALIBRATION
$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
$r_{c.g.cw} = 83,43 cm $
$r_{c.g.ccw} = 128,67 cm$
$L = 2m $
| CLOCKWISE | |||
|---|---|---|---|
| ϵx [cm] | ϵy [cm] | ||
| 1 | -63 | -63,5 | |
| 2 | -50,5 | -59 | |
| 3 | -34 | -65 | |
| 4 | -26,5 | -78,5 | |
| 5 | -41 | -91,5 | |
| Xc.g.= | -43 | Yc.g.= | -71,5 |
| COUNTERCLOCKWISE | |||
|---|---|---|---|
| ϵx [cm] | ϵy [cm] | ||
| 1 | -71 | 97 | |
| 2 | -100 | 112 | |
| 3 | -74 | 87 | |
| 4 | -69 | 123 | |
| 5 | -65,5 | 100,5 | |
| Xc.g.= | -75,9 | Yc.g.= | 103,9 |
Calculations
$$\alpha = \frac{x_{c.g.,cw}+x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi}$$
| α = | 851,99 cm |
| 8,5199 m |
$$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$
| β = | -235,7484076 cm |
| -2,357 m |
$$R = \frac{L/2}{sin(\beta /2)} $$
| R = | -48,7 m |
$$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
| b = | 1.524 m |
| $E_d$ = | 0,9692 |
$$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$
| $b_{actual}$ = | 1,68336 | calibrated value of wheelbase |
| 1.524 | before calibration |
$$c_l = \frac{2}{E_d+1} $$
$$c_r = \frac{2}{(1/E_d)+1} $$
| Correction factor | Before Calibration | After Calibration | |
|---|---|---|---|
| $c_l$ = | 1,0156 | 0,0034301 | 0,00348377 |
| $c_r$ = | 0,9844 | 0,003244 | 0,003193242 |
AFTER CALCULATION
$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
r c.g.cw(cm) = 4,12
r c.g.ccw(cm) = 29,35
| CLOCKWISE | |||
|---|---|---|---|
| ϵx [cm] | ϵy [cm] | ||
| 1 | -6 | -14,5 | |
| 2 | -12,5 | -10 | |
| 3 | 5,5 | 8 | |
| 4 | -5,5 | -7 | |
| 5 | 2,5 | 10,5 | |
| Xc.g.= | -3,2 | Yc.g.= | -2,6 |
| COUNTERCLOCKWISE | |||
|---|---|---|---|
| ϵx [cm] | ϵy [cm] | ||
| 1 | -38,5 | 24 | |
| 2 | -27 | 10 | |
| 3 | -19,5 | 11 | |
| 4 | -22,5 | 20 | |
| 5 | -22 | 4 | |
| Xc.g.= | -25,9 | Yc.g.= | 13,8 |
