http://robosub-old.eecs.wsu.edu/wiki/ 2026-04-06T23:52:06-0700 http://robosub-old.eecs.wsu.edu/wiki/ http://robosub-old.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2017-09-03T13:52:30-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-old.eecs.wsu.edu/wiki/cs/localization/sensors/start?rev=1504471950&do=diff Sensors Note: This section is currently under revision. Sensors produce measurements that reflect the state of the external world - plus some noise. This section will go through what various sensors are measuring, their sources of noise, and how to relate them to states we want to keep track of.$$ A = a_t + a_r + a_c + a_g $$$R(\psi,\phi,\theta) = R(0,0,0)$$[0,0,+g]$$g \approx 9.8\frac{m}{s^2}$$45^o$$45^o$$R^{-1} = R'$$$ a_g = R^T \begin{bmatrix} 0 \\ 0 \\ g \end{bmatrix} = \begin{bmatri…