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In Extended-Kalman-Filter-CHCV you reference some constants, but not all of them are clear to me.
sGPS=0.5*8.8*dt[filterstep]**2# assume 8.8m/s2 as maximum accelerationsCourse=2.0*dt[filterstep] # assume 0.5rad/s as maximum turn ratesVelocity=35.0*dt[filterstep] # assume 8.8m/s2 as maximum acceleration
8.8 m/s2 seems reasonable; one site comparing various race cars suggests Formula 1 accelerates at upwards of 11.9 m/s2 (90kmph in 2.1sec), but the other two (Indy and NASCAR) are 8.3 and below;
0.5 rad/s seems decent, I'm not certain of its perfectness (for the same cars), are the consequences of over-estimating turn rate significant? (Is it "just" under-filtering or lack of sensitivity to outliers?)
2.0?
35.0?
The text was updated successfully, but these errors were encountered:
Thank you for the tutorial and notebooks!
In Extended-Kalman-Filter-CHCV you reference some constants, but not all of them are clear to me.
The text was updated successfully, but these errors were encountered: