04. CTRV Differential Equation

CTRV

The CTRV model.

The CTRV model.

In the following quizzes, you'll need to pick the correct terms for the change rates of the state using the diagram above and some calculus! We started with:

\dot{p_x} = cos(\psi) \cdot v

Now, pick the correct terms for \dot{p_y} , \dot{v} , \dot{\psi} and \ddot{\psi} .

Question 1: \dot{p_y} = ???

A. sin(\psi) \cdot v

B. cos(\psi) \cdot v

C. tan(\psi) \cdot v

1) Which of the above (☝) options represents the change in rate of the y-position?

SOLUTION: A

Question 2: \dot{v} = ???

A. 0

B. v

C. \psi

2) Which of the above (☝) options represents the change in rate of the velocity?

SOLUTION: A

Question 3: \dot{\psi} = ???

A. 0

B. \dot{\psi}

C. \psi

3) Which of the above (☝) options represents the change in the yaw?

SOLUTION: B

Question 4: \ddot{\psi} = ???

A. 0

B. v

C. \psi

4) Which of the above (☝) options represents the rate of change of the yaw rate?

SOLUTION: A

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