can some help me out in Extended Kalman Filter?

I am doing GPS-Positioning Project. I just want to adjust the Errors using Extended Kalman Filter. I read some literatures. Can I use Constant Velocity Model? Can someone help me out creating the Process model and Measurement model? It will be helpful if you suggest me some Literatures or books for more clarification.

Answer 1

[Honglei Chen]

Could you elaborate what you mean by adjusting the error? Depending on what kind of things you are trying to track and the tracking interval, the constant velocity model may or may not work. For example, if you are tracking a car for every second, then constant velocity model is probably find since the car cannot change much speed during 1 sec. On the other hand if you are tracking the same car in 10 seconds interval, the constant velocity model may not fit any more. If you choose constant velocity model, then the process model and measurement model is well documented.

HTH

[Parthiban Thirunavukarasu]

Basically, I am tracking the road-roller which is driven by 5-10 km/hr for a minimum of 180 second time interval (sometimes depends). I need to track the GPS signal using U-blox receiver. At some point i am getting some spikes in the signal especially during the curve. for this i would like to use extended kalman filter.