09. CTRV Process Noise Position

13 Q CTRV Process Noise Position

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1) What would the x acceleration offset be if the car were driving perfectly straight? In other words, what is a a ?

A. 12(Δt)2cos(ψk)⋅νa,k \frac{1}{2}(\Delta t)^2 cos(\psi_k) \cdot \nu_{a,k}

B. 12(Δt)2sin(ψk)⋅νa,k \frac{1}{2}(\Delta t)^2 sin(\psi_k) \cdot \nu_{a,k}

1) Which of the above (👆) options represents the acceleration x offset of a car driving straight at time k+1?

SOLUTION: A

1) What would the y acceleration offset be if the car were driving perfectly straight? In other words, what is b b ?

A. 12(Δt)2cos(ψk)⋅νa,k \frac{1}{2}(\Delta t)^2 cos(\psi_k) \cdot \nu_{a,k}

B. 12(Δt)2sin(ψk)⋅νa,k \frac{1}{2}(\Delta t)^2 sin(\psi_k) \cdot \nu_{a,k}

2) Which of the above (👆) options represents the acceleration y offset of a car driving straight at time k+1?

SOLUTION: B

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