Vehicle tracking and tyre radius estimation

Vehicle tracking and tyre radius estimation with joint UKF(In progress example is still not ready)

1. state space equations:
   
   ,
   where,
   x - x position (state)
   y - y position (state)
   \thehta - vehicle orientation (state)
   \rho - tyre radius (parameter augmented as state)
   .....
   \omega - angular wheel average speed (input)
   \phi - steering angle (input)
   ...
   L - wheel base (parameter)
   \Delta T - Sample time (parameter)