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Product description
8021386/12G4 /2019-04-24 | SICK
OPERATING INSTRUCTIONS | NAV-LOC
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Subject to change without notice
3.9
Dynamic Environment Handling
The Dynamic Environment Handling enables that contour navigation is stable even when small and
gradual changes are made to the surroundings.
The system detects deviations between the visible contour and the saved reference map. All detected
deviations from the saved map are written to an internal additional layer, while the original map file
remains unchanged.
The system uses the reference map and the deviations described in the working map to obtain enough
valid ambient properties to ensure stable localization.
At the same time, NAV-LOC outputs additional information, which is described in chapter 3.11. The
parameter described there, Local Map Modification, defines the extent of the adjustment performed
in the current surroundings.
3.10
Initial position
When switching on localization mode, the position in the coordinate system of the reference map must
be provided to the system one time. Required is the information about the current position (x, y) and
the orientation angle. A value for uncertainty (“uncertainty range”) for all three coordinates has to be
specified for the provided position.
3.10.1
X,Y (position uncertainty)
The {X,Y} position is defined according to the maps global coordinate system. The corresponding un-
certainty value in x and y specifies the area around this specified position within which the actual posi-
tion is located. The range is also specified in accordance to maps global coordinate system.
3.10.2
Yaw (orientation uncertainty)
The orientation and uncertainty of the yaw angle are to be provided accordingly. In difference to the x-
y-pose, the alignment of the 2D LiDAR sensor in the maps global coordinate system must be consid-
ered. The X-axis (in direction of LEDs) defines the sensor orientation and the direction the 2D LiDAR
sensor is pointing to.
