Orientation Uncertainty Characteristics of Some Pose Measuring Systems

<div>Histogram of angles <svg height="9.39034pt" id="M323" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 7.34167 9.39034" width="7.34167pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M538 96L524 119C492 88 454 63 446 63C439 63 434 70 440 101C463 223 491 341 518 448H508L433 422L401 276C355 192 240 56 188 56C163 56 154 89 163 133C184 233 207 338 235 443L230 448L152 424L58 17C40 -60 23 -143 23 -185C23 -241 42 -261 63 -261C92 -261 117 -241 125 -227L124 -221C109 -209 89 -165 89 -103C89 -55 96 -13 105 26H107C121 -3 134 -12 151 -12C172 -12 194 -5 221 16C279 61 330 124 384 194H386C381 159 377 141 368 105C343 3 363 -12 383 -12C416 -12 486 35 538 96Z" id="g113-234"></path></g></svg> (indicated by markers) and distribution <svg height="14.8173pt" id="M324" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 38.5173 14.8173" width="38.5173pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M673 297H417L411 270C517 261 522 258 506 183L487 92C476 38 428 19 360 19C207 19 123 132 123 287C123 472 243 631 441 631C557 631 617 583 617 469L647 472C650 545 655 604 658 632C625 643 554 666 467 666C201 666 23 502 23 278C23 90 156 -16 339 -16C410 -16 501 6 569 24C566 43 567 70 573 101L589 183C604 259 607 262 667 271L673 297Z" id="g113-72"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.827,3.132)"><path d="M558 454L532 470C512 451 497 442 465 442C421 442 376 450 318 450C146 450 24 313 24 164C24 46 91 -12 183 -12C317 -12 439 105 439 247C439 306 428 346 382 385L383 389C414 384 450 379 485 379C517 379 539 412 558 454ZM357 273C357 191 313 28 205 28C149 28 111 79 111 160C111 266 175 396 280 396C298 396 328 386 341 357C353 331 357 315 357 273Z" id="g50-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.07,3.132)"><path d="M98 134C72 134 46 117 46 90C46 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70 440 101C463 223 491 341 518 448H508L433 422L401 276C355 192 240 56 188 56C163 56 154 89 163 133C184 233 207 338 235 443L230 448L152 424L58 17C40 -60 23 -143 23 -185C23 -241 42 -261 63 -261C92 -261 117 -241 125 -227L124 -221C109 -209 89 -165 89 -103C89 -55 96 -13 105 26H107C121 -3 134 -12 151 -12C172 -12 194 -5 221 16C279 61 330 124 384 194H386C381 159 377 141 368 105C343 3 363 -12 383 -12C416 -12 486 35 538 96Z" id="g113-234"></path></g><g transform="matrix(.013,0,0,-0.013,33.827,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path></g></svg> (lines) for two directions of <svg height="12.7178pt" id="M325" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 35.8792 12.7178" width="35.8792pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M542 56L520 58C483 62 478 72 478 124V449C455 445 422 441 387 438C351 435 316 432 287 431V402L318 395C345 389 350 383 350 336V93C328 71 306 65 279 65C245 65 211 88 211 153V298C211 356 211 407 214 449C187 445 151 441 118 438C84 435 53 432 28 431V402L51 395C77 388 83 383 83 337V130C83 42 131 -12 214 -12C245 -12 272 -1 300 18C322 31 333 41 350 55V-5L359 -12C389 -5 420 2 452 8C485 15 513 20 542 24V56Z" id="g13-115"></path></g><g transform="matrix(.013,0,0,-0.013,7.215,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,11.713,0)"><path d="M501 444C501 643 409 712 321 712C208 712 108 618 108 502C108 412 172 331 293 331C337 331 394 359 420 378C397 154 341 41 258 41C209 41 178 76 178 161C178 232 171 299 114 299C76 299 38 272 23 257L29 232C42 236 54 239 66 239C91 239 106 221 102 149C95 20 158 -12 219 -12C264 -12 314 10 353 47C461 150 501 295 501 444ZM423 443C423 433 422 422 421 412C401 396 370 385 335 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height="12.7178pt" id="M326" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 36.0097 12.7178" width="36.0097pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.013,0,0,-0.013,7.347,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z" id="g113-41"></path></g><g transform="matrix(.013,0,0,-0.013,11.845,0)"><path d="M501 444C501 643 409 712 321 712C208 712 108 618 108 502C108 412 172 331 293 331C337 331 394 359 420 378C397 154 341 41 258 41C209 41 178 76 178 161C178 232 171 299 114 299C76 299 38 272 23 257L29 232C42 236 54 239 66 239C91 239 106 221 102 149C95 20 158 -12 219 -12C264 -12 314 10 353 47C461 150 501 295 501 444ZM423 443C423 433 422 422 421 412C401 396 370 385 335 385C245 385 180 444 180 537C180 609 212 671 286 671C349 671 423 595 423 443Z" id="g113-248"></path></g><g transform="matrix(.013,0,0,-0.013,18.58,0)"><path d="M95 130C70 130 46 113 46 88C46 72 54 64 59 64C93 55 121 33 121 -3C121 -41 93 -68 44 -88L55 -117C117 -98 186 -56 186 22C186 91 131 130 95 130Z" id="g113-45"></path></g><g transform="matrix(.013,0,0,-0.013,23.724,0)"><path d="M559 271C559 395 493 448 433 448C370 448 304 394 275 297C259 245 235 121 219 37C157 54 113 110 113 201C113 310 180 386 276 429L265 457C131 410 23 326 23 186C23 83 86 5 211 -10C180 -159 167 -220 158 -252L165 -261C198 -255 236 -246 251 -218L287 -5C421 9 559 119 559 271ZM484 273C484 144 400 40 293 33L352 331C364 389 382 406 405 406C431 406 484 370 484 273Z" id="g113-253"></path></g><g transform="matrix(.013,0,0,-0.013,31.291,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path></g></svg> shown in Figure <a href="../fig4/#b">4(b)</a> is equal to (a) <span class="nowrap"><svg height="9.43926pt" id="M327" style="vertical-align:-3.29567pt" version="1.1" viewbox="-0.0498162 -6.14359 23.4774 9.43926" width="23.4774pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.76,3.132)"><path d="M810 0V30C751 35 744 40 744 106V296C744 396 694 451 614 451C583 451 558 438 537 425C512 409 485 391 454 368C434 420 390 451 342 451C309 451 285 439 260 424C228 405 206 387 185 372V453C141 434 90 421 43 413V386C102 378 105 373 105 309V106C105 41 96 35 29 30V0H243V30C194 35 185 41 185 106V335C216 360 256 389 297 389C357 389 384 348 384 275V106C384 41 374 35 312 30V0H530V30C475 35 465 41 465 104V294C465 313 464 324 463 336C502 367 539 389 576 389C637 389 663 346 663 274V109C663 41 653 35 593 30V0H810Z" id="g58-107"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.322,3.132)"><path d="M442 39L431 68C420 63 406 57 394 57C377 57 359 71 359 118V301C359 353 349 393 314 424C291 443 261 451 230 451C171 438 107 401 79 381C59 366 46 355 46 340C46 316 72 295 91 295C106 295 117 303 122 319C131 350 139 371 152 384C163 397 178 404 197 404C246 404 281 365 281 293V278C260 262 186 232 124 213C69 194 41 161 41 112C41 47 92 -12 163 -12C195 -12 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316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.76,3.132)"><path d="M810 0V30C751 35 744 40 744 106V296C744 396 694 451 614 451C583 451 558 438 537 425C512 409 485 391 454 368C434 420 390 451 342 451C309 451 285 439 260 424C228 405 206 387 185 372V453C141 434 90 421 43 413V386C102 378 105 373 105 309V106C105 41 96 35 29 30V0H243V30C194 35 185 41 185 106V335C216 360 256 389 297 389C357 389 384 348 384 275V106C384 41 374 35 312 30V0H530V30C475 35 465 41 465 104V294C465 313 464 324 463 336C502 367 539 389 576 389C637 389 663 346 663 274V109C663 41 653 35 593 30V0H810Z" id="g58-107"></path></g><g transform="matrix(.0091,0,0,-0.0091,14.349,3.132)"><path d="M138 535C169 535 191 560 191 589C191 620 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Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Orientation Uncertainty Characteristics of Some Pose Measuring Systems 