ABSTRACT
This chapter provides an overview of the behavior of sensors for finding the velocity and direction of movements for relative localization and presents hybrid positioning algorithms for integration of absolute and relative location information. We use the term hybrid localization algorithms to algorithms that integrate relative and absolute localizations. In localization and navigation industry Kalman filtering is commonly used for fusion of multi-sensor for relative and absolute localization. The mechanical location sensors are installed in the device and they measure the velocity and direction in the device coordinates. The chapter introduces the gravity sensor and describes magnetometer and how we can use it to implement an electronic compass. The speed of the wheel of the ground robot provides an odometer and the robot may carry an accelerometer, gyroscope, magnetometer, or many other sensors useful for localization. Odometers measure the traveled distance by counting the number of rotations of the wheel of a vehicle.
