Non-uniform dead-reckoning position estimate updates

We present an error model for dead-reckoning position estimating systems used in robotic research. This model is suitable for use in real time with general position estimating systems when the model is updated throughout the trajectory. A technique for updating the system error model when the position estimate correction information is non-uniform is also described. We have used this error model to screen noisy position corrections to a dead-reckoning navigator. An autonomous robot system using the error model and a compatible position updating technique has been demonstrated both in simulation and in several types of uncontrolled and unstructured environments.