Kalman filter, noise covariance

1. Feb 20, 2012

pfk

Hi people,

I am designing a kalman filter to estimate the velocity of a vehicle model and I can't understand what values should I choose for the process/measurement magnitude and then how to create the covariance.

About the measurement noise magnitude I assume that I can find detailed information inside the manufacturer's manual, but about the process noise I am taking into consideration a number of disturbances (slope, headwind, bumps,...) how can I include all that into one value?

Could anyone give me some directions please?