Table 9: Residual generation in each EKF.

EKFGenerated from

EKF1 (no GPS)Front left ODO Meas update
EKF2 (no )Front left ODO Meas update
EKF3 (no )Raw and estimated -acceleration
Front left ODO Meas update
EKF4 (no )Front left ODO Meas update
EKF5 (no )Front right ODO Meas update
EKF6 (no )Front left ODO Meas update
EKF7 (no )Front left ODO Meas update
EKF8 (no )Front left ODO Meas update