TABLE 1
TurtleBot3 Sensor Parameters
Sensor
Measurement
Noise
1σ
Rate
IMU
Acceleration
0.001
m/s
2
50 Hz
Gyro Rate
0.001
rad/ s
Encoder
Velocity
0.01
m/s
30 Hz
GNSS
Position
0.1
m
1 Hz
Velocity
0.02
m/s
UWB
Range
0.05
m
1 Hz