I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle and orientation of the vehicle. This is calculated based on the wheelticks and is relative to the inertial origin of coordinates. We also have data which tells us about the number of received wheel impulses from each of the wheels.
- What exactly are the differences between wheel ticks and wheel impulses? Does wheel impulse mean the wheel speed (rpm)?
- If steering angle data (Averaged steering wheel angle) is additionally available, can this also be used to calculate velocity and position?