# Tracking vehicle 6 states extended kalman filter required?

I'm trying to track an accelerating vehicle using a camera, an IMU, and a GPS. I use for the state space equation a constant acceleration model: The states are the position, the velocity, and the acceleration of the vehicle in the x- and y-direction. No input is used. All the measurement equations are linear. I'm wondering if I should use a discrete normal Kalman filter, or a discrete extended Kalman filter. (i.e. is my process non linear?)

• @jsotola Thx for the heads-up! I improved the picture! – Michael May 12 '18 at 6:40