Fig. 3
From: Secure localization of land vehicles under GPS spoofing attack with decomposition Kalman filter
Localization architecture, where Fx~ and Fy~ denote the wheel-ground interactions, vx and vy for velocities, vL and vR for wheel speeds, vG is the vehicle center velocity, lf and lr are the distances to the front and rear axles, while δf ψ, dr, and β represent the steering angle, yaw angle, and slip angle, respectively.
