Systems and methods for materials handling vehicle odometry calibration

A materials handling vehicle comprising a wheel and a vehicle computing device, wherein:

• the vehicle computing device stores logic that when executed by a processor, causes the materials handling vehicle to perform at least the following:
• determine a current location of the materials handling vehicle within a warehouse;
• determine an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of the wheel and a circumference of the wheel;
• determine a positioning system distance from the current location to the destination;
• compare the odometry distance with the positioning system distance to calculate a scaling factor;
• apply the scaling factor to a slow alpha filter to achieve a slow filter result;
• apply the scaling factor to a fast alpha filter to achieve a fast filter result;
• in response to determining that the slow filter result is within a predetermined tolerance of the fast filter result, apply the slow alpha filter to the scaling factor to smooth noise;
• calculate an updated odometry distance utilizing the scaling factor;
• and
• utilize the updated odometry distance to operate a positioning system.

A method for calibrating odometry of a materials handling vehicle comprising:

• determining a current location of the materials handling vehicle within a warehouse;
• determining an odometry distance from the current location to a destination based on a calculation of a determined number of rotations of a wheel and a circumference of the wheel;
• determining a positioning system distance from the current location to the destination;
• comparing the odometry distance with data from the positioning system distance to calculate a scaling factor, wherein calculating the scaling factor comprises dividing the positioning system distance by the odometry distance;
• applying the scaling factor to a fast alpha filter to achieve a fast filter result;
• applying the scaling factor to a slow alpha filter to achieve a slow filter result;
• in response to determining that the slow filter result is not within a predetermined tolerance of the fast filter result, applying the fast alpha filter to the scaling factor to smooth noise;
• calculating an updated odometry distance utilizing the scaling factor;
• and
• utilizing the updated odometry distance to operate a positioning system.