Localization with Directional Coordinates

TL;DR

This paper introduces a new coordinate system for robotic localization that simplifies measurement models, avoids singularities, and improves the accuracy and consistency of robot position estimates.

Contribution

A novel coordinate system for robotic localization that enhances measurement simplicity and estimation accuracy over traditional Cartesian and spherical coordinates.

Findings

Simplifies range, azimuth, and elevation measurement models.

Reduces kinematic singularities and angle wrap-around issues.

Improves state estimation consistency in robotic localization.

Abstract

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 wrap-around. When compared to Cartesian coordinates, the proposed coordinate system results in a significantly enhanced ability to represent the true distribution of robot positions, ultimately leading to large improvements in state estimation consistency.