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I would like to know does it makes sense to use CTRV (constant turn rate & velocity) motion model [x, y, v, yaw, yaw_rate] with Unscented Kalman filter if I have only measurements of the position and velocity?

I'd like to estimate not only position and velocity, but also the yaw and yaw_rate values, but since I don't have any information from sensors about them, does it makes sense?

I've used CV & CA motion models with UKF and these measurements and they are working fine, but when I wanted to switch to CTRV I keep getting some strange values for yaw_rate. I suppose that it is because of the missing information from the sensors about either yaw or yaw_rate. I've used MATLAB trackingUKF for the implementation of the UKF.

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