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 RM. 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 RM is collinear with the speed vector
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Locate in space
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