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Oxford Technical Solutions
You can see the RT3003 is nearly at specification after just this small amount of driving.
However, experience tells us the Kalman filter will continue to make some improvements
(not obvious) during the first few figures of eight. The main part of the motion occurs
after 1100 s when the car was driven in a figure of eight for 6 minutes.
These are fairly large figures of eight driven at relatively low speeds. Notice the brake
stops in the velocity graph ((a) in Figure 48) where the speed falls to zero. These are
important parts of the warm-up—so as many states in the Kalman filter as possible can
be updated.
Notice how close to the specification the RT3003 is even without the figure of eight
manoeuvres. A proper warm-up is recommended in order to achieve the highest level of
accuracy. However the effect is small and only significant when you need the full
performance of the RT.
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