IMU Sensor Model¶
The Imu Measurement model allows for a mathematical description of the measurement function and the respective jacobian.
Measurement Function¶
\[
f_{measurement}(\vec{x}_{kinematic}, \vec{u}_{kinematic}) = f_{measurement}(\vec{x}_{pacejka}, \vec{u}_{pacejka}) = \begin{bmatrix}
\ddot{{x}} \\
\ddot{y} \\
\dot{\varphi}
\end{bmatrix}
\]