08. CTRV Process Noise Vector

CTRV Process Noise Vector

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CTRV Process Noise Effect Last 3

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1) What is the influence of νa,k \nu_{a,k_{}} and νψ¨,k \nu_{\ddot{\psi},k} on the velocity?

In other words, what is c c in the process model?

A. Δt⋅νψ¨,k \Large \Delta t \cdot \nu_{\ddot{\psi},k}

B. Δt⋅νa,k \Large \Delta t \cdot \nu_{a,k}

1) How will the noise processes influence the velocity? Select one of the options from above (👆).

SOLUTION: B

2) What is the influence of νa,k \nu_{a,k_{}} and νψ¨,k \nu_{\ddot{\psi},k} on the yaw angle?

In other words, what is d d in the process model?

A. 12(Δt)2⋅νψ¨,k \Large \frac{1}{2}(\Delta t)^2 \cdot \nu_{\ddot{\psi},k}

B. Δt⋅νψ¨,k \Large \Delta t \cdot \nu_{\ddot{\psi},k}

2) How will the noise processes influence the yaw angle? Select one of the options from above (👆).

SOLUTION: A

3) What is the influence of νa,k \nu_{a,k_{}} and νψ¨,k \nu_{\ddot{\psi},k} on the yaw rate?

In other words, what is e \large e in the process model?

A. Δt⋅νa,k \Large \Delta t \cdot \nu_{a,k}

B. Δt⋅νψ¨,k \Large \Delta t \cdot \nu_{\ddot{\psi},k}

3) How will the noise processes influence the yaw rate? Select one of the options from above (👆).

SOLUTION: B

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