This technical note introduces a localization method for land-vehicles based on dead-reckoning and nonlinear filter. To address the chattering phenomenon during vehicle rotating, we derive a novel dynamic model by combining lateral motion and wheel dynamics. By introducing a Taylor moment expansion method, a novel nonlinear filter framework is proposed for vehicle localization. Simulation and experimental demonstrate that the proposed scheme for land-vehicles provides considerable results in accuracy than other state-of-the-art methods.
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