Dynamic Models

Available Dynamic Models

• Pacejka Car Model
• Kinematic Car Model
• Parafoil 4-DoF Model
• Rocket 6-DoF Model

Configuration

Independent of the selected model, the following generic arguments must be provided Example model_config.yaml

# type describes what type of model we want to use / should be loaded
type: "pacejka_discrete|kinematic_model"

# Q (process noise covariance matrix)
Q:
  value:
    [
      [0.01, 0, 0, 0, 0, 0],
      [0, 0.01, 0, 0, 0, 0],
      [0, 0, 0.01, 0, 0, 0],
      [0, 0, 0, 0.0001, 0, 0],
      [0, 0, 0, 0, 0.0001, 0],
      [0, 0, 0, 0, 0, 0.0001],
    ]
  is_diag: false

model_params:
  # size params
  lr: 0.038
  lf: 0.052

  tau: 0.181


<Pacejka Parameters | Kinematic Parameters>