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中文摘要：
为 wheeled 的一个死了的计算系统活动机器人被设计，并且为机器人的方法“在 3D 环境的 s 姿势评价根据 itsrigid 身体被介绍运动学的方程。在分析活动机器人和 proprioceptive 传感器的原则的运动建筑学以后，活动机器人的 kinematics 模型被造认识到相对本地化。认为关于活动机器人的死了的计算的研究被限制到 2 架维的飞机，在 3 并列的轴方向的活动机器人的运动被考虑以便在不平的地面上估计它的姿势。因为在一架飞机的计算方法是相当成熟的，在高度方向的计算强烈地作为一个关键问题被代表。与模拟节目和机器人站台获得的试验性的结果，活动机器人的位置能可靠地被估计，本地化精确能有效地被改进，因此这个死了的计算系统的有效性被表明。
英文摘要：
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot＇s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
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