Assessment of Different Sensor Configurations for Collaborative Driving in Urban Environments

Table 2

Kalman filter model parameters.

State	Model	Parameters
Position	Integrated velocity	N/A
GPS clock bias	Integrated clock drift	N/A
Horizontal velocity	First-order Gauss-Markov	(𝜎=10 m/s, 𝜏=2 s)
Vertical Velocity	First-order Gauss-Markov	(𝜎=1 m/s, 𝜏=2 s)
GPS clock drift	First-order Gauss-Markov	(𝜎= 1,000 m/s, 𝜏=10 s)