State estimation

From Princeton Autonomous Vehicle Engineering

We're going to use a square root central differencing kalman filter. I have this mostly implemented in C++.

Literature

• The Square-root Unscented Kalman Filter for State and Parameter Estimation
• Application of Unscented Kalman Filter to Vehicle State Estimation
• Tire-Road Forces Estimation Using Extended Kalman Filter and Sideslip Angle Evaluation
• Estimation of Slip Angles using a Model Based Estimator and GPS
• Tire-Road Friction Estimation Using Slip-based Observers