Design of a Fault Detection and Isolation System for Intelligent Vehicle Navigation System

Table 2

States of the EKF of Smart car.

In navigation frame	In base frame
: LONG position	: LONG acceleration [m/s^2]
: LAT position	: LAT acceleration [m/s^2]
: yaw angle	: LONG SPD in COG [m/s]
: yaw rate	: LAT SPD in COG [m/s]
	: bias state for LONG ACC
	: bias state for LAT ACC
	: bias state for GYRO
	: bias state, front left ODO
	: bias state, front right ODO
	: bias state for rear ODO