# Obtaining state transition matrix for 16 dim state using Ackermann geometry [closed]

I've been trying to wrap my head arounnd the Ackermann geometry but I don't quite understand what the difference would be compared to the kinematic bicycle model in terms of the kinematic equations used. My state vector contains 16 states namely the 6dof pose, linear velocities, angular velocities, linear accelerations and the steering angle

X = {x,y,z,roll,pitch,yaw,v_x,v_y,v_z,v_roll,v_pitch,v_yaw,a_x,a_y,a_z, steering_angle}

I have two questions

1. What would the state transition matrix/equations be for this?
2. How can I predict the steering angle?
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