Behaviour in tunnels

[sultan-zendera]

We haven't tested out this yet but we live in a country with lots of tunnels. Some of them are many kilometers long. How would the filter behave in such cases? currently our regular GPS loses its location and then obtains it and we have a straight line from the entrance to the exit from the tunnel. How would Kalman filter behave in this situation?

[Lezh1k]

Need to test in real life . On generated data with GPS signal disabled for 10-30 seconds it shows good results. No straight lines, trajectory looks like smooth curve. But it can be less precise because of sensor errors accumulation. So I believe filter will handle GPS signal loss for 20-60 seconds at least.