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Figure Dheading.png shows Dheading = |filtered_heading - previous_heading| in time. As you can see basically all the leaps caused by the change of the tracking camera are removed. This improved the path following performances.
CPS MEASURED 2D SPEED
Work In Progress. The issues with CPS measured 2D speed detected in this testing are still unresolved. This is not currently a priority since all the encoders are working and can be used for the model identification. These issues will but these issues should be deepen in case the estimated 2D speed will actually be used for the prediction.
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