I am trying to set up a Kalman-Filter to filter position-measurements of a self-driving car. To do so, I consider a state-vector with 5 elements and am now trying to set up the Transition Matrix.
As you can see in the following picture, I do not have a clear understanding of the car dynamics. How does my steering for example contribute to my x-position? Since steering is the rate of change of the vehicle heading, it must somehow be linked to acceleration. Can anyone help me to figure out A ?
I would be so grateful!