CTRV Zero Yaw Rate

How should the process model change if the yaw rate, \dot{\psi_k} , is 0? Think it through for the first two components of the process model. (Why not the last three components? They all have the trivial solution of 0 when \dot{\psi_k} is 0.)

Question 1: How should we calculate the change in the x-position over time when \dot{\psi_k} = 0 ?

A. v_k cos(\psi_k) \Delta t

B. v_k tan(\psi_k) \Delta t

SOLUTION:

A

Question 2: How should we calculate the change in the y-position over time when \dot{\psi_k} = 0 ?

A. v_k sin(\psi_k) \Delta t

B. v_k tan(\psi_k) \Delta t

SOLUTION:

A