How does a Kalman filter improve the accuracy and stability of autosteering systems?

A Kalman filter improves the accuracy and stability of autosteering systems by optimally combining noisy measurements from multiple sensors and a mathematical model of the vehicle's dynamics to estimate the vehicle's state (position, velocity, orientation) more accurately than any single sensor could provide. Autosteering systems rely on sensors such as GPS, inertial measurement units (IMUs), and wheel angle sensors to determine the vehicle's position and orientation. However, each of these sensors has its own sources of error and noise. GPS signals can be affected by a....