CTRV Zero Yaw Rate

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How should the process model change if the yaw rate, $\dot{\psi_k}$ , is 0? Think it through for the first two components of the process model. (Why not the last three components? They all have the trivial solution of 0 when $\dot{\psi_k}$ is 0.)

Question 1: How should we calculate the change in the x-position over time when $\dot{\psi_k} = 0$ ?

A. $v_k cos(\psi_k) \Delta t$

B. $v_k tan(\psi_k) \Delta t$

SOLUTION:

A

Question 2: How should we calculate the change in the y-position over time when $\dot{\psi_k} = 0$ ?

A. $v_k sin(\psi_k) \Delta t$

B. $v_k tan(\psi_k) \Delta t$

SOLUTION:

A

CTRV Zero Yaw Rate

Question 1: How should we calculate the change in the x-position over time when ψk˙=0 \dot{\psi_k} = 0 ψk​˙​=0 ?

Question 2: How should we calculate the change in the y-position over time when ψk˙=0 \dot{\psi_k} = 0 ψk​˙​=0 ?

Question 1: How should we calculate the change in the x-position over time when $\dot{\psi_k} = 0$ ?

Question 2: How should we calculate the change in the y-position over time when $\dot{\psi_k} = 0$ ?