This folder contains the results for state estimation with UKF on rapid control prototyping ECU.

uk_est: Input vector for estimation
[steering angle (rad), Wheel torque front left (Nm), Wheel torque front right (Nm), Wheel torque rear left (Nm), Wheel torque rear right (Nm)]

yk_est: Estimated measurement vector 
[x-Acceleration (m/s^2), y-Acceleration (m/s^2), Yaw rate (rad/s), Wheel speed front left (rad/s), Wheel speed front right(rad/s), Wheel speed rear left (rad/s), Wheel speed rear right (rad/s)]

xk_est: Esitmated state vector
[x-Velocity (m/s), y-Velocity (m/s), Yaw rate (rad/s), Wheel speed front left (rad/s), Wheel speed front right(rad/s), Wheel speed rear left (rad/s), Wheel speed rear right (rad/s), Tire adaption parameter front left (-), Tire adaption parameter front right (-), Tire adaption parameter rear left (-), Tire adaption parameter rear right (-)]

vk_ref_est: Estimated velocity at reference velocity sensor position
[x-Ref.-Velocity (m/s), y-Ref.-Velocity (m/s)]