I hope someone can help me: Given two autonomously driving cars, I want to make sure they keep a constant distance to each other. For this purpose, I want to design a Kalmanfilter. Typically, the first step for designing such a filter is to set up a state vector. I am given two robots already. They have an ultrasonic-sensor to measure distance and an encoder to measure velocity. However, what is not clear to me is: What would be the proper state-vector for my Kalmanfilter equations?
I have troubles understanding this, because, from the tutorials I have read, I got the impression a Kalmanfilter always combines at least two Gaussian distributed measurements. In order to compute a new distance for example, I would have to compute ... I don't know, maybe this:
Does somebody know?