3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles

摘要

The Kalman Filter has many applications in mobile robotics ranging fromperception, to position estimation, to control. This report formulates a navigation Kalman Filter. That is, one which estimates the position of autonomous vehicles. The filter is developed according-to the state space formulation of Kalman's original papers. The state space formulation is particularly appropriate for the problem of vehicle position estimation. This filter formulation is fairly general. This generality is possible because the problem has been addressed.