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To see how it works, go to https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/matlab_scripts/vehicle_dynamics_identification_and_mpc/documentation/main.pdf

Localization

TODOThe localization combines the IPS vehicle observation with local vehicle sensor data to determine the vehicle pose. If the IPS vehicle observation is delayed or temporarily unavailable, the localization can continue to give accurate poses through dead reckoning.

Sensor Calibration

The Low Level Controller provides its data as low-resolution integers. The LLC units are chosen to match the required value range and quantization error. The sensor calibration converts the LLC data to floating point values with SI units.

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