A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Figure 7

Simulation results of side slip angle and yaw rate for EKF, UKF, and ALOUKF estimators: (a) side slip angle; (b) error of side slip angle; (c) yaw rate; (d) error of yaw rate.

(a)

(b)

(c)

(d)