# Odometry Modeling(里程计模型)

里程计最初是指通过车辆轮胎上的编码器，计算车轮行驶的距离，并从内轮差中估算出转角的一种测量算法。由于其不可避免的随机误差（车辆颠簸、打滑、计数错误引起），通常需要和陀螺仪配合使用以提升精度，但陀螺仪长期也会有积分漂移（温度引起），所以单靠里程计本身并不足以解决定位问题（想象一个人蒙上眼睛，通过数步数在旷野里行走会不会迷路...）。

![转角测量](/files/-LWOCxh13UDL4toPxVR8) ![移动测量](/files/-LWOCxh3idsGYlV_vVhf)


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