CPC G01C 25/00 (2013.01) [G01C 21/20 (2013.01); G05D 1/0212 (2013.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); G05D 2201/0203 (2013.01)] | 22 Claims |
1. A method for controlling a mobile robotic device comprising:
providing a mobile robotic device having a motion sensor assembly configured to provide data for deriving a navigation solution for the mobile robotic device;
determining the mobile robotic device temperature for at least two different epochs;
estimating an accumulated heading error of the navigation solution based on the determined temperature at the at least two different epochs; and
responsive to the estimate of the accumulated heading error being outside of a desired range:
issuing a stop request to the mobile robotic device to cause it to stop moving; and
performing a calibration procedure for at least one sensor of the motion sensor assembly after the mobile robotic device has stopped moving in response to the stop request.
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