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(11) 12436587:9<;>=@?BAC?BDFE7HG7:IJ;>DFK6LMDN=PO<QNK67:EFO<DRG7:I+STIUOP=PD. VWYX>Z\[^]`_\acb:dfe0gihkjlgPmjon@prqsCq tUt4qvu^nPnwhxsijUpFgiyzqsCq tBt{g}|kyojB~`g&~}q p\yoh^q jBtiq ju$nwt4n8gi@gip:mPg u$nwpMt-yh^n&gwt-yzq hkpFgiyjBwn> i] x^ x`^ \\ ]`0]i[x Z\0]^>YZ\WY>\ k\ x:\\WY]`4][x 4]iWY>\ \[x>xF x^WY<]a <0{^[x8\[x <x C$]@^8^W]&Yf^ ^x\!x>Y8k\ i\\YWYX>\W4] 8\ <YY C>[x\WY0]w^ ] [xW ]i\ [x >$]i^WaT+ <\W4] `0 \ $]iX>YWY`k\ ^Z\ <\ ia ¡r¢z£¤¦¥§¢¨©¨+ª§«r¨¬!ª£ ® M¯:¢z£¢z©¨ NV ]w<W4] [xW{l [xW C^]iY4]NXa _acb +0]i[°^W4] 0]w44]xxW ]±0aT²: +W4i³ WY<iY§]<³i]i\<] ´ µ¶VR^ \\ [x \F ]`0]i[x :Z\P³i]xxW ]WY!\Z\C^ 3 aJ²: WYZ\ [^vx \^ >\\YWYX>\W4] WYNN{x[x]^ <\ [x ·ix$]wC^ §4] <C>[x\WY0]w^] C i 4] CZ\P³i] x^W ] ^]i[^¸: 2 C>[x\WY0]w$] WYC³> < iWY+\Z\C^H¹F [xk\ºvºvWYM\WY»6³WYWY\\>4]f^ ^^p] C i $\ ^C\\WYxl]4][x <4]w<WYi\ \[x>xF x^WY<]aT¼z0\Z\Cx¹vº\WY»`³:WY<WY\]iY4]B P]@^Z\[x [x <p]i2Y \ \Z\C^ 3 d+]i\\W4] WYX>YWYi[^]w^`x <\xWY\WY <^ WY F>[^] C^`\ Y´ µ¶VJa ¡r¢z£¤¦¥§¢¨©¨+ª§«r¨¬!ª£ ¦ª§!½M¨T£¢z©T¨ VN]w<W4] ì[^][xW{l [xW <^v]iY4]0Xa _\a ¾ N]w[^W4] `0]iY4]^W ]±\aJ²: W4r³ WY>Y WY\0WY ^[x XiX>W4]4]^W ]\ <Y´ µ+¶V8\W{³ $]W4>\Z\C^ 3 a¿]<C>[\W40]@$] C i WYXiYWY>[^] p ]8^ 0\ v]fF X>X>WYi[^]i[x `4]fx^W ]f\W C pi a}À§YYi[^]f>\\YWYX]w0\WYT0{^[x2Á]8^ \ [x <ix$]wCx 4]<C>[x\WY0]w^] C i xWwx^WY \ WY3 \Z\^}¹8k\ ·º\WY»8³:WY<WY\\ \Z\Cx 3 d ]i\k\ §WY}Â:Z\ xx<]ix WYXip43WYi[^]U]^W ] ] \[xWYxF x^]iF<]ix\[ < \ <^ ia ÃÄ ©¢x¬!ª£ ¦¨©¨+ª£¢ÆÅ@¢ª§¥§¢°r£:Ç\ ¼zÈNXa _\a _ [xWYN>[^W4] ´ ]i\0] C^\ <Y4]6x^W ]6^ >\\ÉWY0{^[xÉ]i{^ [x0]w^W{³a Ê YWxx <x^W\WYx<i[x^Wî\³>]wYWY\W]i\$\ \ !<]ix`WYZ\W!4]l <]w^Z\[x x^W ]@$]^W4]\WY» ³WYWY0]`]iY4]^ Y P] [^]\ !\Z\^`[x <]iY }ËB³> <\Wr0X\a ¾aYÌPÍ Îka Ï ±.

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(15) !"#$%. &('*). +-,/.1032/4657,98;:<,. =?>/@A@A>CBEDAF GH@JIK9DAL MHDNFO>QPEPRDJISF-LIUT9L MWVXELMYPRLUDA@[Z!@\PRXELIS@\PR>/X]M!ISPRD\^"LUT/LM_DA@NZ!@\PRX]L`HD abI@AF-IMc>9BEPR>9BELHdfegXE>9MH`HDJIFOLhDAMiT9L MHBEDA`H>/XEIK9DAL MH>;GHM!I-BRL@JI-V>IjPRGHXE><k^">9`HDlL BEB/d mWd n o >;GWPRDA@ADAK/K9DJIFOL-Z!@\PRXEDBEpq>/T9DJIS@JDAK9K/ISPRDp>/X?GHM!I-V>/ISPRGHXE>d?r[p!IXRIFO>QPRXEDBEL MHLhDBR>9s GH>9M"PRD pq>9X[PEGHP]PR>b@A>bBEDAF GH@JISK/DALM!Dut. •. >9FOpqLO`HDBEDAF GH@JIK9DAL MH>txwjy*zw w BE>9T v {. •. {. PR>9p(BRDAK9>t|w}dA~6BE>9T. •. ?N*. L@A^ >/XQtxLY`H>~hkuxGH@A>9Xo. [Ef]g*xf. r7`!ISPEDXE>9@JISPRD\^}DlIS@A@JI BRDAF;GH@JIK9DAL MH>bBEL MHLODBE>9s GH>9MYPRDut . ##S$lWi$Y|jY!l}YWjl. • . C. t. P1 = [−100 − 40 700mm] t. ##S$lWi$Y7QjUWil}UYHlj. • . C. P1 st = [−2375 − 950 16625]mm Z!M!LCI(TH>-@JI<V>/IjPRGHXE>-XRISsSy. #q$q#q7!|j#g#!. (u1 , u2 ) = [40mm/s, 0r ad/s] sDAG!MHs> DA@qL X]`!Lh`H>/@A@AL3BETH>9XEFOL3> (u1 , u2 ) = [−40mm/s, 0r ad/s]. ZMHL3I@ y. @JI3pqL BEDAK9DAL MH> DAMHDJK9DJIS@J> `H>9@A@JIhV>/ISPRGHXE>¡lI@\PR>9XEM!ISPEDAÎSFO>/M"PR> Z!MHLCIS@A@JI3Z!MH> `H>9@A@

(16) I BEDAF GH@JIK9DALM!>d ¢. U#ji//lj. e>/X<L sMHD£T9LYL XE`HDAM!ISPI¤`H>9@£pHGHM"PRL¥BRGH@A@u¦ DAFOF-IsDAMH>BRD¨§. ISs s DAGHM"PRL GHM3XEGHFOL XE>fs IGHBRBEDJIMHL `HDqFO>9`HDJI;MYG!@A@JI6>?ÎXEDJIMHK/I ¢. U#ji/ª\##"/S. «. 0.0001r ad. σ 2 = 1mm. p>/Xh@ALBRpqLBEPRIFO>/M"PRL@ADAMH>/IXE>i>. pq>9X[@AL-BEpqLBEPISlFO>/M"PRL-IMHsL @JIXE>. ±¥²}² ³W´%xµ]gf. •. d. ² f*]. Q = 10 ∗ ey e(3). >. R =. ² ]¶f]g*xf. r@µZ!@\PRXELO`HDlabIS@AF-IMC>9B]PR>9BRLOT9L M"^">9XEs >-k^">9`HDZ!sWd nHd¸· o ©. DA@µZ!@\PRXEL-I@\PR>9XEM!ISPEDA^ LOT/LMY^ >/XEs>bDAM(F-DAMHLX[PE>/FOpqLck^ >/`HDµZ!sHd nHd ¹. •. σa2 =. ©. H/S¬"77¬ #}HHS!$ U®gY3x¯g

(17) /j#°(!uU!$. 10 ∗ ey e(2). σ 2 = 0.1pixel ©. >£Z!sHd nWd¸º o ©. ».

(18) ¼l½x¾µ¿jÀÁUÂÃlÄ}ÅÅÄiÆ ÇÇÈSÃÀÉlÂW¿ÄiÃlÄ}ÅÅÄcÊÄYÂW¿jËlÈjÄiÀÉ_¿/ÄYÈSÉlÂÌ9ÇqÅÀÃlÂ!ÅÄiÂ!Å|ÈjÇÍgÇ!¿. C 1. Error p1 [mm]. Æ ÇqÉÎÁUÄ"¿ÇÃlÇÂ!Å¿/ÄYÈSÉlÂW¿jÀ

(19) ÏqÇ. 4000 3000 2000 1000 0 0. 50. 100. 150. 200. 250. 300. 350. 400. 50. 100. 150. 200. 250. 300. 350. 400. 50. 100. 150. 200 Tempo [sec]. 250. 300. 350. 400. C 1. Error p2 [mm]. 2000 1500 1000 500 0 0. 4. x 10. −0.5 −1. C. Error p1. 3 [mm]. 0. −1.5 −2 0. Ð%ÑAÒÓHÔRÕbÖH×¸ØYÙ7Ú!ÛÜ Ý}ÞAß/à9ÛâáSãqä£å"æfäQççRáSçRä¨èÛéQêuÛÜOß?ë!äç?ÞJäbìRááSçEèÛ

(20) ãqßêä£è"äQÞÞAß7í9äRßêuÝ}çRäbìájã. C 1. Error p1 [mm]. ÛÞ îgÞ êuçRá3èSÛ%ï ßÞ¸Ü-ßãð. 2000 1500 1000 500 0 0. 50. 100. 150. 200. 250. 300. 350. 400. 50. 100. 150. 200. 250. 300. 350. 400. 50. 100. 150. 200 Tempo [sec]. 250. 300. 350. 400. C 1. Error p2 [mm]. 1000 750 500 250 0 0. Error Cp1. 3 [mm]. 0 −5000 −10000 −15000 −20000 0. Ð%ÑAÒÓHÔRÕbÖH× ñ}Ù7Ú!ÛÜ Ý}ÞAß/à9ÛâáSãqä£å"æfäQççRáSçRä¨èÛéQêuÛÜOß?ë!äç?ÞJäbìRááSçEèÛ

(21) ãqßêä£è"äQÞÞAß7í9äRßêuÝ}çRäbìájã ÛÞ îgÞ êuçRá3ßSÞ ê*äçãqßêuÛòáð. óH¼.

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(23) ö÷øùúûü!ý"øþÿ%ø. Distanza − EKF. 20000 15000 10000 5000 0 0. 50. 100. 150. 200. 250. 300. 350. 400. 50. 100. 150. 200 Tempo [sec]. 250. 300. 350. 40. Distanza − Alternativo. 20000 15000 10000 5000 0 0.

(24) !#"%$'&)('*+,.-/+"0-21 043$ +-21 $5,.-2'+-/6$3$7+-21 $1 $ +8$ 9 $.1:*+;$=<>?-21@2A BDCFEGC2H. IKJ7LNMPORQTSUJWV:XPYZH. []\; _^7`7ab8 _^ dce _bb8 gf h5b8 +ijkaf7jkj'`f7aakl^ 2 m. n_oøÿlüpqiøÿøýYøüûø=n#qYü!ûøroeq}ûûütsuqYüpjúenq . þþ. m. •. P1 = [−100 − 40 700]mm. n_oøÿlüpqiøÿøýYøüûø]v.pjøùUüpq6oeq}ûûüws/qYüpúen#q . þþ. m. . C. •. C. P1 st = [−2375 − 950 16625]mm. k;j{ }|@~ab8 0Fa #^ 7a __ xpnþqûûø7ü!û=njþygþ;p (u1 , u2 ) = [40mm/s, 0rad/s] z +;k+abxjR\;j

(25) \abbj f7|@~a7h'j a kj +b? 0rad/s] z b8 xjf7ijkagk8i8 _b8ag\abb8

(26) Fa _^ 7a+(ue1 +,bd^ ua27)k;= _^7[−40mm/s, c+ _h'ak)^ a kj{ _bb8 kag\abb z z f7hb8 +ij+k;a+. þqÿ. n#q6v/úûûqùøFv/úen#q a0j+k4|jlj7\k; _^ \ab4k)^ jf bb2 h'h ++katf _k)^ j'k{7h'jRa) _;f7f78 +kj'\`h'a\8 gkbb8 ga4c+ +R8 +ki 2 σ = 1pixel úùUþn#q6/v úûûu\ þò þùq)pSn øü 2 a

(27) bjf xj+f7^ +h'ak)^ jbka +7a6a 2 σa = aKbj'f7xjfR^ +h'σal kl= ^ j _1mm kjb8 +Ra 0.01rad úùUþ.

(28) e:%#Fwe ¡F¡ 6¢£U£¤_F¥e 6e ¡F¡F §¦/ l#ë¤# 6F¥© l¤_¥eª£x¡FFe;¡ 6;¡=¤#£«T£; ¢£x¥¬w )£è£;¡ l¤_¥e#x£ 12. 1. Error Cp1 [mm]. 3. x 10. 2 1 0 −1 0. 20. 40. 60. 80. 100. 120. 140. 160. 180. 200. 20. 40. 60. 80. 100. 120. 140. 160. 180. 200. 20. 40. 60. 80. 100 Tempo [sec]. 120. 140. 160. 180. 200. 1. Error Cp2 [mm]. 6000 4000 2000 0 0. 1. Error Cp3 [mm]. 0. 12. x 10. −2 −4 −6 0. ®¯°+±² ³´µ ¶·]¸;¹ºg»¼½¾¹!¿_ÀxÁPÂÃPÁ.Ä@Ä ¿_Ä ÁÅ+¹UÆ.Ç2¹º'½DÈ;Á@ÄD¼8ÁÉ ¿¿_Ä7Å+¹Àx½+ÇuÁ4Å)Á.¼¼½]ÊÁ ½+Ç2»Ä ÁÉ¿#À ¹¼ËT¼?Ç2Ä ¿ Å_¹Ì½+¼º½+ÀÍ Î ¤_F¢r]¢£¤_;¥eÏ)wÐT l¤ F¡:Ñ>¡¤#£]Ò{;¡Fw¥ µ. Q = 10 ∗ eye(9). Ó. R =. 10 ∗ eye(6). ÔÕlÕÖU×ØÙ:Ú%ÛWÜ:ÝPÛgÕÞPßWßRÙàÕÛRáZÞPßWÙ:Ú%ÛRÜTÝPÖãâ •. •. . ²7èé¯eê³ ³+ì è

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(32) 123154$687:9 ;=<>@?BA.C@;D687:;9 E:FHGFJIK?B6ALFJIK>@?B7:A(IK;DM06 3000 1. Error Cp1. 2500 2000 1500 1000 500 0 0. 20. 40. 60. 80. 100. 120. 140. 160. 180. 200. 20. 40. 60. 80. 100. 120. 140. 160. 180. 200. 20. 40. 60. 80. 100 Tempo. 120. 140. 160. 180. 200. 2. Error Cp1. 1000 750 500 250 0 0. 1. Error Cp3. 0 −5000 −10000 −15000 −20000 0. [sec]. NPO*QSR.TVU"W.X Y(Z\[0]J^`_ba*cKde]gfihkjmlbnojqpqpVfipVj"ri]tsug]D^vcxwLjpxayjz{f fip|r}]Dh0c}uj"r@jqaDa*c~jVc}ug_(pVj"z{fih ]DaaupVfc}aujpqh0c}ug]D}fS 2000 1800 1600. C. C. Distanza | p1st− p1|. 1400 1200 1000 800 600 400 200 0 0. 20. 40. 60. 80. 100 120 Tempo [sec]. 140. 160. 180. 200. PN O*QSR.TVUW.X* (Z[0]D^_ba*cKde]fBhkjlbnor}]ysqucihbdKcvugp|cva*cm~ejVciu_bpVjosug]D^c}ucja*cm~ejVc}ug_bpVjpVjVc}ayj wLjp]JaaugpVfc}aujpqh8ciu]DifS 8.

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