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cs:testing:start [2019/04/23 13:21] Andrew Rink |
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==== Localization ==== | ==== Localization ==== | ||
The localization system had an extensive testing suite implemented as part of the SLAM project. Localization is one of the fundamental systems relied upon by the SLAM system, so it's vital that this system performs up to expectations to ensure the maps generated are accurate and usable. | The localization system had an extensive testing suite implemented as part of the SLAM project. Localization is one of the fundamental systems relied upon by the SLAM system, so it's vital that this system performs up to expectations to ensure the maps generated are accurate and usable. | ||
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+ | The general description of the localization system is that it takes data from the depth sensors and hydrophones to triangulate the position of the pinger in the water, then takes additional data from the IMU to help determine positioning changes in the water. An important aspect of the system is to maintain accuracy as the submarine's position changes, which is what several tests focus on. At the time of the tests' creation the physical submarine was inoperable, so many of the tests utilize the simulator to make changes to the submarine's position underwater. | ||
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