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

Table 3

Measurement used by the EKF of Smart car.

In the navigation frame	In the base frame
: DGPS LONG	: LONG ACC
: DGPS LAT	: LAT ACC
: DGPS heading	: front left wheel SPD
: GYRO yaw rate	: front right wheel SPD
	: rear wheels mean SPD