Indoor Vision/INS Integrated Mobile Robot Navigation Using Multimodel-Based Multifrequency Kalman Filter

Table 1

Functions used for the judgement of the robot’s state.

Function name	Description
YawErr1	Gives absolute difference between yaws at time point and
YawErr2	Gives absolute difference between yaws at time point and
YawErr3	Gives absolute difference between yaws at time point and
Acc	Gives the sum of accelerometer values in three directions
	After removing the gravity acceleration at the time index