FlightGoggles : Car Dynamics

FlightGoggles makes use of the carDynamicsSim library for simulation of simple car dynamics. This simulation uses a Dubins vehicle-like dynamics model that takes the vehicle speed and yaw rate as inputs.

The two-dimensional position dynamics are given by

where is the commanded speed, is the vehicle-to-world rotation matrix, and is stochastic velocity process noise. The transformation matrix is computed based on the heading angle of which the dynamics are

where is the commanded yaw rate. The velocity noise is sampled according to

where is the simulation time interval and is the noise auto-correlation function (with the Dirac delta function).