Genesys ADMA-G - Figure 67 Kalman Filter Status Data Packets; Figure 68 Example Kalman Filter Transient Phase Driving Route

ADMA 3.0
USER MANUAL
Document Revision 2.01 | 2021 Page 91/137
11.6.1 Kalman filter status
The Kalman filter status information provides the transient state of a Kalman filter and indicates
whether the system is adjusted, otherwise the specification of the system may not be reached
especially in GNSS outage situations. It combines the stimulation of the lateral, longitudinal axis and
steady state (acceleration-free state). The ADMA data output includes the data packet
Kalmanfilter_Status which gives a percentage overview of the individual states and the needed driving
maneuvers.
Lateral stimulation [%]
Kalman filter settled [0/1]Longitudinal stimulation [%]
Steady state [%]
Figure 67 Kalman filter status data packets
Note: The Kalman filter status will not be provided on ADMA-EL and ADMA-EL+ systems.
11.6.2 Example Kalman Filter transient phase
Figure 68 shows the driven route of an exemplary ADMA initialization. Figure 69 shows the related
Kalman filter status estimates.
Figure 68 Example Kalman Filter transient phase driving route