EKF: fuse wheel odometry, gyro and GPS

Hard · Whiteboard

Design an extended Kalman filter for a ground robot with wheel encoders (speed), a gyro (yaw rate) at 100 Hz, and GPS (x, y) at 1 Hz. Choose the state, write the motion model and its Jacobian, the GPS measurement model, and explain what goes wrong in practice and how you handle it.

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