| 摘要 |
<p>A differential odometer includes a left wheel sensor (503) coupled to a left wheel (103), and a right wheel sensor (513) coupled to a right wheel (105). The left wheel sensor (503) provides a left wheel pulse count (505) as the left wheel (103) rotates. A left wheel distance traversed is determined by a product of the left wheel pulse count and a left distance per pulse coefficient. The right wheel sensor (513) provides a right wheel pulse count (515) as the right wheel rotates. A right wheel distance traversed is determined by a product of the right wheel pulse count and a right distance per pulse coefficient. A vehicle heading (601'), and vehicle distance traversed (1201), are determined using the left wheel distance traversed and the right wheel distance traversed. A correction value (901, 1001) is provided corresponding to a measured relationship between the left wheel pulse count and the right wheel pulse count. Then a new left distance per pulse coefficient (1105), corresponding to the provided correction value (901, 1001), and a new right distance per pulse coefficient (1101), corresponding to the provided correction value (901, 1001) are provided. Then the left distance per pulse coefficient (605) is substituted with the new left distance per pulse coefficient (1105), and the right distance per pulse coefficient (609) with the new right distance per pulse coefficient (1101). This substitution causes calibration of the differential odometer, consistent with the provided correction value (901, 1001).</p> |
