A method for kinematic parameter correction based on odometry error

Abstract

The application provides a method for correcting kinematic parameters based on odometer error, and the method comprises the following steps: establishing a double-wheel differential motion model based on vehicle parameters, calculating the linear speed of the left wheel and the linear speed of the right wheel of the double-wheel differential motion model, and calculating the corresponding motor encoder position value according to the linear speed of the left wheel and the linear speed of the right wheel; combining the motor encoder position value to calculate the motion change of the vehicle odometer; combining the motion change to correct the wheel diameter ratio of the vehicle; combining the motion change and the corrected wheel diameter ratio to correct the wheel diameter of the vehicle; combining the motion change to correct the wheel spacing of the vehicle; and bringing the corrected wheel diameter and wheel spacing of the vehicle into step S2 to verify the motion change. The application solves the problem that the wheel diameter and the wheel spacing affect each other in the mainstream calibration method of the double-wheel differential robot model, separates the calibration of the wheel diameter and the wheel spacing, and has high robot positioning accuracy under comprehensive working conditions.

Description

Technical Field

[0001] This invention relates to the technical field of parameter correction, and specifically to a method for correcting kinematic parameters based on odometer error. Background Technology

[0002] With the development of the logistics industry, improving warehousing and transshipment efficiency has become a key aspect of industry development. Warehouse management, goods picking and handling are gradually shifting from manual labor to intelligent machinery. Intelligent warehousing is a new goal pursued by major logistics companies. In particular, dual-wheel differential speed robot logistics AGVs have been widely used by major logistics companies due to their low cost and ability to effectively solve the problems of goods storage, handling and management. The market size is also increasing year by year.

[0003] However, in practical applications, logistics AGVs still face problems such as shelf shaking and goods falling when rotating in place, especially because the actual precision of the robot body may differ from the theoretical design model. The risk of goods falling increases with heavier loads. Currently, the mainstream calibration method for dual-wheel differential robots uses the UMBmark method, which eliminates the independence of wheel diameter and wheelbase, focusing on the coupling effect of these two factors. However, in some single scenarios, such as follow-up rotation, the rotational accuracy is not high, leading to increased warehouse maintenance time and costs, reduced warehouse operational efficiency, and in more serious cases, even threatening employee safety. Summary of the Invention

[0004] In view of the problems existing in the prior art, the present invention provides a method for kinematic parameter correction based on odometer error, in order to solve the technical problem that the rotation accuracy is not high in some single scenarios such as follow-up rotation, which leads to increased warehouse maintenance time and maintenance costs, reduced warehouse operation efficiency, and even threatens the personal safety of employees in more serious cases.

[0005] This invention provides a method for correcting kinematic parameters based on odometer error, comprising:

[0006] S1. Establish a two-wheel differential motion model based on vehicle parameters, calculate the linear velocity of the left wheel and the linear velocity of the right wheel of the two-wheel differential motion model, and calculate the corresponding motor encoder position value according to the linear velocity of the left wheel and the linear velocity of the right wheel respectively;

[0007] S2. Calculate the motion change of the vehicle odometer based on the motor encoder position value;

[0008] S3. Correct the wheel diameter ratio of the vehicle based on the aforementioned motion changes;

[0009] S4. Perform wheel diameter correction on the vehicle by combining the aforementioned motion changes and the corrected wheel diameter ratio;

[0010] S5. Correct the wheel spacing of the vehicle based on the aforementioned motion changes;

[0011] S6, bring the corrected vehicle wheel diameter and wheel spacing into step S2 to verify the motion change.

[0012] Optionally, calculating the linear velocities of the left and right wheels in the dual-wheel differential motion model includes:

[0013]

[0014] ω=(v r -v l ) / d wb

[0015] v c =(v l +v r ) / 2

[0016]

[0017] Among them, V r V represents the linear velocity of the vehicle's right wheel. l V represents the linear velocity of the vehicle's left wheel. c The velocity r represents the centerline velocity of the vehicle. c d represents the vehicle's turning radius, ω represents the vehicle's angular velocity, and d represents the vehicle's rotational speed. wb Indicates the wheel spacing of a vehicle.

[0018] Optionally, the linear velocities of the left and right wheels are used to calculate the corresponding motor encoder position values, including:

[0019] Calculate the encoder position value of the left wheel motor corresponding to the linear velocity of the vehicle's left wheel:

[0020]

[0021] δ lthe =2×π×v lrps

[0022]

[0023] Among them, V lrps d represents the theoretical rotational speed of the left wheel motor. l The left wheel diameter is represented by π, π represents pi, N represents the reduction ratio of the reducer in the motor, and δ represents the diameter of the left wheel. lthe δ represents the theoretical angular velocity of the left wheel motor. l This represents the actual angular velocity of the left wheel motor, Ff represents the frictional force acting on the motor, and a offsetThe angular displacement of the motor rotation is represented by J, the rotational crown beam of the motor is represented by t, time is represented by T, the torque applied to the motor is represented by M, the motor resolution is represented by Fload, and the load force is represented by P. l This indicates the encoder position value of the left wheel motor.

[0024] Optionally, the motor encoder position values ​​corresponding to the linear velocities of the left and right wheels respectively further include:

[0025] Calculate the encoder position value of the right wheel motor corresponding to the linear velocity of the right wheel of the vehicle:

[0026]

[0027] δ rthe =2×π×v rrps

[0028]

[0029] Among them, V rrps d represents the theoretical speed of the right wheel motor. r Indicates the diameter of the right wheel, δ rthe δ represents the theoretical angular velocity of the right wheel motor. r P represents the actual angular velocity of the right wheel motor. r This indicates the encoder position value of the right wheel motor.

[0030] Optionally, calculating the motion change of the vehicle odometer by combining the position value of the motor encoder includes:

[0031] S201. Calculate the distance traveled by the left wheel and the distance traveled by the right wheel of the vehicle:

[0032]

[0033] S202. Calculate the travel distance of the left and right wheels within the time interval Δt based on the travel distance of the left and right wheels:

[0034] ΔS l =S l -S ll

[0035] ΔS r =S r -S rr

[0036]

[0037] Where, ΔS l ΔS represents the distance traveled by the left wheel during the time interval Δt. rΔt represents the distance traveled by the right wheel during the time interval Δt, Δx represents the distance traveled by the vehicle's center point in the X direction during the time interval Δt, and Δy represents the distance traveled by the vehicle's center point in the y direction during the time interval Δt.

[0038] S203. Recalculate the actual vehicle centerline velocity, actual vehicle rotational angular velocity, vehicle center horizontal coordinate, vehicle center vertical coordinate, and cumulative vehicle rotation angle:

[0039]

[0040] Among them, v c1 S represents the actual linear velocity of the vehicle's center line, ω1 represents the actual angular velocity of the vehicle's rotation, and S represents the actual angular velocity of the vehicle's rotation. x Represents the x-coordinate of the vehicle body center, S y Let θ represent the vehicle's center ordinate, θ represent the vehicle's cumulative rotation angle, and Δθ represent the vehicle's cumulative rotation angle over the time interval Δt.

[0041] Optionally, the step of correcting the wheel diameter ratio of the vehicle in conjunction with the motion changes includes:

[0042] S301. Using the diameters of the vehicle's left and right wheels as input, and keeping the left wheel diameter constant, calculate the difference in the right wheel diameter before and after correction:

[0043]

[0044] Where, ε r This represents the difference in the diameter of the right wheel before and after correction, and β represents the offset angle that occurs during vehicle movement.

[0045] S302. The diameter of the right wheel after proportional correction is obtained by combining the difference between the diameters of the right wheel before and after correction:

[0046] d εr =d r +ε r

[0047] Where, d εr This indicates the diameter of the right wheel after proportional correction.

[0048] Optionally, the wheel diameter correction of the vehicle by combining the motion change and the corrected wheel diameter ratio includes:

[0049]

[0050]

[0051] Where, d el d represents the actual diameter of the revolver. er This indicates the actual diameter of the right wheel.

[0052] Optionally, the step of correcting the wheel spacing of the vehicle in conjunction with the motion change includes:

[0053]

[0054] d eb =d wb +ε wb

[0055] Where, ε wb d represents the difference between the factory wheel spacing and the actual wheel spacing. eb This indicates the actual wheel spacing.

[0056] Optionally, the step of substituting the corrected vehicle wheel diameter and wheel spacing into step S2 for motion change verification includes:

[0057] The vehicle wheel spacing d in step S2 wb Replace with the actual wheel spacing d eb , the diameter d of the revolver l Replace with the actual revolver diameter d el , the diameter d of the right wheel r Replace with the actual right wheel diameter d er The motion changes were verified again.

[0058] Compared with the prior art, the present invention:

[0059] A kinematic parameter correction method based on odometer error is proposed, which solves the problem of mutual influence between wheel diameter and wheelbase in the mainstream calibration method in two-wheel differential robot models. It allows wheel diameter and wheelbase to be calibrated separately, which not only achieves high robot positioning accuracy under comprehensive working conditions, but also achieves high accuracy in a single scenario (such as follow-up rotation). Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0063] Figure 2 This is a schematic diagram of the AGV chassis of the present invention;

[0064] Figure 3This is a schematic diagram of the AGV follow-up mechanism of the present invention;

[0065] Figure 4 This is a schematic diagram of the motion control input and output of the AGV of the present invention;

[0066] Figure 5 This is a schematic diagram of the calculation of the dual-wheel differential speed model of the AGV of the present invention;

[0067] Figure 6 This is a schematic diagram of the AGV vehicle body of the present invention located in a rectangular coordinate system;

[0068] Figure 7 This is a schematic diagram of the AGV wheel diameter ratio correction of the present invention;

[0069] Figure 8 This is a schematic diagram of the AGV wheel diameter correction of the present invention;

[0070] Figure 9 This is a schematic diagram of the AGV wheel spacing correction of the present invention;

[0071] Figure 10 This is a schematic diagram comparing the angles of the AGV rotating disk and the QR code in the first embodiment of the present invention;

[0072] Figure 11 This is a schematic diagram comparing the angles of the AGV chassis and the QR code in the first embodiment of the present invention;

[0073] Figure 12 This is a schematic diagram comparing the angles of the AGV rotating disk and the QR code in the second embodiment of the present invention;

[0074] Figure 13 This is a schematic diagram comparing the angles of the AGV chassis and the QR code in the second embodiment of the present invention;

[0075] Figure 14 This is a schematic diagram comparing the angles of the AGV rotating disk and the QR code in the third embodiment of the present invention;

[0076] Figure 15 This is a schematic diagram comparing the angles of the AGV chassis and the QR code in the third embodiment of the present invention. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other implementation cases obtained by those skilled in the art without creative effort are within the scope of protection of this application. Functional units with the same reference numerals in the examples of this invention have the same and similar structures and functions.

[0078] See Figure 1 This invention provides a method for correcting kinematic parameters based on odometer error, comprising:

[0079] S1. Establish a two-wheel differential motion model based on vehicle parameters, calculate the linear velocity of the left wheel and the linear velocity of the right wheel of the two-wheel differential motion model, and calculate the corresponding motor encoder position value according to the linear velocity of the left wheel and the linear velocity of the right wheel respectively;

[0080] S2. Calculate the motion change of the vehicle odometer based on the motor encoder position value;

[0081] S3. Correct the wheel diameter ratio of the vehicle based on the aforementioned motion changes;

[0082] S4. Perform wheel diameter correction on the vehicle by combining the aforementioned motion changes and the corrected wheel diameter ratio;

[0083] S5. Correct the wheel spacing of the vehicle based on the aforementioned motion changes;

[0084] S6, bring the corrected vehicle wheel diameter and wheel spacing into step S2 to verify the motion change.

[0085] In this embodiment, S1, a two-wheel differential motion model is established based on vehicle parameters, and the linear velocities of the left and right wheels of the two-wheel differential motion model are calculated, as well as the motor encoder position values ​​corresponding to the linear velocities of the left and right wheels respectively.

[0086] See Figure 2 An AGV's two-wheel differential chassis consists of two drive wheels located on the left and right sides of the chassis. Movement and steering are achieved by controlling the different speeds of the left and right wheels. It is typically equipped with one to four auxiliary support omnidirectional wheels. Common chassis types include: Turtlebot, robotic vacuum cleaners, unmanned warehouse AGVs, and wheelchairs. The primary control method involves defining the vehicle's heading direction as the X-axis, providing the linear velocity in the X-axis and the angular velocity in the Z-axis to control vehicle movement, and calculating the odometer reading.

[0087] See Figure 3 The tray on top of the vehicle rotates clockwise at a speed ω tray The counterclockwise rotation speed ω of the vehicle chassis car When the absolute values ​​of the two angular velocities are equal, the absolute orientation of the pallet remains unchanged, meaning the pallet and the ground remain relatively stationary. This type of vehicle rotation is called servo rotation. To the naked eye, this appears as the pallet not rotating, but the chassis rotating.

[0088] See Figure 4 and Figure 5 A two-wheel differential motion model was established based on vehicle parameters, and the linear velocities of the left and right wheels in the two-wheel differential motion model were calculated:

[0089]

[0090] ω=(v r -v l ) / d wb

[0091] v c =(v l +v r ) / 2

[0092]

[0093] Among them, V r V represents the linear velocity of the vehicle's right wheel. l V represents the linear velocity of the vehicle's left wheel. c The velocity r represents the centerline velocity of the vehicle. c d represents the vehicle's turning radius, ω represents the vehicle's angular velocity, and d represents the vehicle's rotational speed. wb Indicates the wheel spacing of a vehicle.

[0094] The corresponding motor encoder position values ​​are calculated based on the linear velocities of the left and right wheels, starting with the left wheel motor encoder position value corresponding to the linear velocity of the vehicle's left wheel:

[0095]

[0096] δ lthe =2×π×v lrps

[0097]

[0098] Among them, V lrps d represents the theoretical rotational speed of the left wheel motor. l The left wheel diameter is represented by π, π represents pi, N represents the reduction ratio of the reducer in the motor, and δ represents the diameter of the left wheel. lthe δ represents the theoretical angular velocity of the left wheel motor. l This represents the actual angular velocity of the left wheel motor, Ff represents the frictional force acting on the motor, and a offset The angular displacement of the motor rotation is represented by J, the rotational crown beam of the motor is represented by t, time is represented by T, the torque applied to the motor is represented by M, the motor resolution is represented by Fload, and the load force is represented by P. l This indicates the encoder position value of the left wheel motor.

[0099] Then, the encoder position value of the right wheel motor corresponding to the linear velocity of the vehicle's right wheel is calculated:

[0100]

[0101] δ rthe =2×π×v rrps

[0102]

[0103] Among them, V rrps d represents the theoretical speed of the right wheel motor. r Indicates the diameter of the right wheel, δ rthe δ represents the theoretical angular velocity of the right wheel motor. r P represents the actual angular velocity of the right wheel motor. r This indicates the encoder position value of the right wheel motor.

[0104] S2. Calculate the motion change of the vehicle odometer based on the motor encoder position value.

[0105] See Figure 6 Odometer calculation for AGV two-wheeled differential robots refers to the process of calculating the robot's motion trajectory and position changes by calculating the rotation angle and travel distance of the robot's two drive wheels, including:

[0106] S201. Calculate the distance traveled by the left wheel and the distance traveled by the right wheel of the vehicle:

[0107]

[0108] S202. Calculate the travel distance of the left and right wheels within the time interval Δt based on the travel distance of the left and right wheels:

[0109] ΔS l =S l -S ll

[0110] ΔS r =S r -S rr

[0111]

[0112] Where, ΔS l ΔS represents the distance traveled by the left wheel during the time interval Δt. r Δt represents the distance traveled by the right wheel during the time interval Δt, Δx represents the distance traveled by the vehicle's center point in the X direction during the time interval Δt, and Δy represents the distance traveled by the vehicle's center point in the y direction during the time interval Δt.

[0113] S203. Recalculate the actual vehicle centerline velocity, actual vehicle rotational angular velocity, vehicle center horizontal coordinate, vehicle center vertical coordinate, and cumulative vehicle rotation angle:

[0114]

[0115] Among them, v c1S represents the actual linear velocity of the vehicle's center line, ω1 represents the actual angular velocity of the vehicle's rotation, and S represents the actual angular velocity of the vehicle's rotation. x Represents the x-coordinate of the vehicle body center, S y Let θ represent the vehicle's center ordinate, θ represent the vehicle's cumulative rotation angle, and Δθ represent the vehicle's cumulative rotation angle over the time interval Δt.

[0116] S3. Correct the wheel diameter ratio of the vehicle based on the aforementioned motion changes.

[0117] See Figure 7 The vehicle moves from the left QR code position to the right QR code position. At this point, because the factory-specified left and right wheel diameters are not the actual left and right wheel diameters, the vehicle deviates by an angle of β. By maintaining the left wheel diameter d... l Keeping the diameter constant, calculate the changed diameter d of the right wheel. εr .

[0118] S301. Using the diameters of the vehicle's left and right wheels as input, and keeping the left wheel diameter constant, calculate the difference in the right wheel diameter before and after correction:

[0119]

[0120] Where, ε r This represents the difference in the diameter of the right wheel before and after correction, and β represents the offset angle that occurs during vehicle movement.

[0121] S302. The diameter of the right wheel after proportional correction is obtained by combining the difference between the diameters of the right wheel before and after correction:

[0122] d εr =d r +ε r

[0123] Where, d εr This indicates the diameter of the right wheel after proportional correction.

[0124] S4. Based on the aforementioned motion changes and the corrected wheel diameter ratio, perform wheel diameter correction on the vehicle.

[0125] See Figure 8 The vehicle moved from the QR code position on the left to the right. Figure 2 At the QR code location, since the diameter of the vehicle's right wheel has been proportionally corrected, this experiment shows that the vehicle is traveling in a straight line, but the distance traveled is not the actual distance. By following these steps, the diameters of the vehicle's left and right wheels can be increased or decreased proportionally, allowing the vehicle to travel in a straight line while also covering a precise distance.

[0126] Wheel diameter correction of the vehicle is performed by combining the aforementioned motion changes and the corrected wheel diameter ratio, including:

[0127]

[0128] Where, d el d represents the actual diameter of the revolver. er This indicates the actual diameter of the right wheel.

[0129] S5. Correct the wheel spacing of the vehicle based on the aforementioned motion changes.

[0130] See Figure 9 By rotating the AGV vehicle in place n times and obtaining the difference between the actual rotation angle and the theoretical rotation angle Δθ degrees, the accurate wheel spacing can be calculated.

[0131]

[0132] d eb =d wb +ε wb

[0133] Where, ε wb d represents the difference between the factory wheel spacing and the actual wheel spacing. eb This indicates the actual wheel spacing.

[0134] S6, bring the corrected vehicle wheel diameter and wheel spacing into step S2 to verify the motion change.

[0135] See Figure 10 and Figure 11 After rotating the AGV twice in place, the angles are compared. Based on the kinematic parameters of the wheel diameter and track width as initially set at the factory, the results are substituted into step S2. Figure 10 It can be seen that the rotation angle of the rotating disk after two rotations in place (red curve) differs from the measured true rotation angle of the QR code (blue curve) by 0.4451 rad. Figure 11 It can be seen that after rotating twice in place, the chassis rotation angle (red curve) differs from the true value of the QR code (blue curve) by 0.4447 rad.

[0136] See Figure 12 and Figure 13 After rotating the AGV twice in place and comparing the angles, the wheel diameter and track width, calibrated using the commonly used UMBmark calibration algorithm, are substituted into step S2. Figure 12 It can be seen that the difference between the tray rotation angle (red curve) and the QR code true value angle (blue curve) is 0.2677 rad. Figure 13 It can be seen that the disc rotation angle (red curve) and the true value angle of the QR code (blue curve) differ by 0.2661 rad.

[0137] See Figure 14 and Figure 15After the AGV rotates twice in place, the angles are compared. A kinematic parameter correction algorithm based on odometer error is tested and substituted into step S2. Figure 14 It can be seen that the difference between the tray rotation angle (red curve) and the QR code true value angle (blue curve) is 0.0408 rad. Figure 15 It can be seen that the vehicle body rotation angle (green curve) and the QR code true value angle (blue curve) differ by 0.0413 rad.

[0138] In summary, it can be seen that in some single scenarios (such as rotating in place), the cumulative rotation angle accuracy of the vehicle proposed in this invention is higher.

[0139] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0140] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for correcting kinematic parameters based on odometer error, characterized in that, include: S1. Establish a two-wheel differential motion model based on vehicle parameters, and calculate the linear velocities of the left and right wheels of the two-wheel differential motion model, including: ， ， ， ， ， in, This indicates the linear velocity of the vehicle's right wheel. This indicates the linear velocity of the vehicle's left wheel. Indicates the speed along the vehicle's centerline. Indicates the vehicle's turning radius. Indicates the vehicle's rotational angular velocity. This indicates the vehicle wheel spacing, and calculates the corresponding motor encoder position values ​​based on the linear velocities of the left and right wheels, including: Calculate the encoder position value of the left wheel motor corresponding to the linear velocity of the vehicle's left wheel: ， ， ， ， in, This indicates the theoretical speed of the left wheel motor. Indicates the diameter of the revolver. π represents pi, and N represents the reduction ratio of the speed reducer in the motor. This represents the theoretical angular velocity of the left wheel motor. This represents the actual angular velocity of the left wheel motor, and Ff represents the frictional force acting on the motor. The angular displacement of the motor is represented by J, the moment of inertia of the motor is represented by t, the torque applied to the motor is represented by T, the resolution of the motor is represented by M, and the load is represented by Fload. The left wheel motor encoder position value is used to calculate the right wheel motor encoder position value corresponding to the linear velocity of the right wheel of the vehicle. ， ， ， ， in, This indicates the theoretical speed of the right wheel motor. Indicates the diameter of the right wheel. This represents the theoretical angular velocity of the right wheel motor. This indicates the actual angular velocity of the right wheel motor. This indicates the encoder position value of the right wheel motor; S2. Calculate the motion change of the vehicle odometer based on the motor encoder position value; S3. Correct the wheel diameter ratio of the vehicle based on the aforementioned motion changes; S4. Perform wheel diameter correction on the vehicle by combining the aforementioned motion changes and the corrected wheel diameter ratio; S5. Correct the wheel spacing of the vehicle based on the aforementioned motion changes; S6, bring the corrected vehicle wheel diameter and wheel spacing into step S2 to verify the motion change.

2. The method for correcting kinematic parameters based on odometer error as described in claim 1, characterized in that, The calculation of the vehicle odometer's motion change based on the motor encoder position value includes: S201. Calculate the distance traveled by the left wheel and the distance traveled by the right wheel of the vehicle: ， ， S202, Calculation based on left wheel travel distance and right wheel travel distance Distance traveled by the left and right wheels within the time period: ， ， ， ， in, express Distance traveled by the left wheel within a time period express Distance traveled by the right wheel within the time period express The distance traveled by the vehicle's center point in the X direction within the time period. express The distance traveled by the vehicle's center point in the y-direction within a given time period; S203. Recalculate the actual vehicle centerline velocity, actual vehicle rotational angular velocity, vehicle center horizontal coordinate, vehicle center vertical coordinate, and cumulative vehicle rotation angle: ， ， ， ， ， in, This indicates the actual speed along the vehicle's centerline. This represents the actual angular velocity of the vehicle. Indicates the x-coordinate of the vehicle body center, Represents the ordinate of the vehicle's center. Indicates the cumulative rotation angle of the vehicle. express The cumulative rotation angle of the vehicle within the time period.

3. The method for correcting kinematic parameters based on odometer error as described in claim 2, characterized in that, The method of correcting the wheel diameter ratio of the vehicle in conjunction with the aforementioned motion changes includes: S301. Using the diameters of the vehicle's left and right wheels as input, and keeping the left wheel diameter constant, calculate the difference in the right wheel diameter before and after correction: ， ， in, This represents the difference in the diameter of the right wheel before and after correction. This indicates the angle of deviation that occurs while the vehicle is in motion; S302. The diameter of the right wheel after proportional correction is obtained by combining the difference between the diameters of the right wheel before and after correction: ， in, This indicates the diameter of the right wheel after proportional correction.

4. The method for correcting kinematic parameters based on odometer error as described in claim 3, characterized in that, The wheel diameter correction of the vehicle by combining the aforementioned motion changes and the corrected wheel diameter ratio includes: ， ， in, Indicates the actual diameter of the revolver. This indicates the actual diameter of the right wheel.

5. The method for correcting kinematic parameters based on odometer error as described in claim 4, characterized in that, The method of correcting the wheel spacing of the vehicle in conjunction with the aforementioned motion changes includes: ， ， in, This represents the difference between the factory-specified wheel spacing and the actual wheel spacing. This indicates the actual wheel spacing.

6. The method for correcting kinematic parameters based on odometer error as described in claim 5, characterized in that, The step of substituting the corrected vehicle wheel diameter and wheel spacing into step S2 for motion change verification includes: The vehicle wheel spacing in step S2 Replace with actual wheel spacing , make the diameter of the revolver Replace with the actual revolver diameter , the diameter of the right wheel Replace with the actual diameter of the right wheel The motion changes were verified again.

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