2. Locate in space
Locating in space enables the vehicle to know where it is, particularly in relation to its navigation map. Generally speaking, locating a vehicle means determining the position and orientation of a marker rigidly attached to it within a fixed navigation marker in the environment.
2.1 Vehicle installation
The frame of reference linked to the vehicle is called the "moving frame of reference". It is denoted R M. It is generally located in the middle of the rear axle for road vehicles, as shown in figure 4 . The abscissa axis of the reference frame R M ...
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Locate in space
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