Table 2: States of the EKF of Smart car.

In navigation frameIn base frame

: LONG position: LONG acceleration [m/s2]
: LAT position: LAT acceleration [m/s2]
: 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