Lesson10.markdown

@@ -88,8 +88,12 @@ The plan is to follow the plan described in [1].
 
 ## Position tracking by means of particle filters
 
-500 mm kørt distance. Afstand fra mål ~0.5 mm = dist_err 	= 0.001
-Rotation error ~0.5 degrees. 0.5/360 						= 0,00138
+The tests to performed to estimate the noise factors was performed at low speeds, on a wooden table covered by a single sheet of paper. The low speed reduces the noise factors because the wheel stops faster, and thus closer to the intended angle, also the low speed reduces the risk the wheel loosing grip of the surface. The wooden table covered by paper also reduces the noise factors, because the surface is homogeneously smooth, without any irregularities which could introduce errors. 
+
+The distance noise factor was determined by having the robot perform multiple forward travels of 500 mm. The average distance from the target was ~0.5 mm, thus the distance noise factor was estimated as: 0.5/500 = 0.001.
+
+The angle noise factor was determined by two tests, both performed multiple times. In the first test, the robot perform four 360 degrees rotation. The second test was similar, but reversed the direction of the 2nd and 4th rotation. For both tests, the average deviation was 0.5 degrees, hence the angle noise factor was estimated as: 0.5/360 = 0.00138. 
+
 
 
 ## Conclusion