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ukf.log
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time_stamp px_state py_state v_state yaw_angle_state yaw_rate_state sensor_type NIS px_measured py_measured px_ground_truth py_ground_truth vx_ground_truth vy_ground_truth
1477010443399637 8.46292 0.243462 0 0.0287602 0 radar 6.89903e-310 8.46292 0.243462 8.6 0.25 -3.00029 0
1477010443449633 8.4485 0.251375 -0.000718136 0.0287602 -2.08167e-17 lidar 0.000275962 8.44818 0.251553 8.45 0.25 -3.00027 0
1477010443499690 8.47147 0.248796 -0.00562322 0.0287633 2.858e-07 radar 0.125948 8.56759 0.241943 8.45 0.25 0 0
1477010443549747 8.46434 0.250973 -0.00872107 0.0287375 -3.25357e-06 lidar 0.00656087 8.45582 0.253997 8.45 0.25 0 0
1477010443604698 8.37861 0.249046 -1.16205 0.0287486 1.00367e-06 radar 14.3786 8.42544 0.254042 8.35 0.25 -1.81979 0
1477010443659650 8.30679 0.24821 -1.18607 0.0239271 -0.00115208 lidar 0.301068 8.23962 0.24916 8.25 0.25 -1.81978 0
1477010443709653 8.10164 0.233507 -1.88781 0.0951097 0.0187584 radar 18.1824 7.93286 0.188391 8.05 0.2 -3.99976 -0.99994
1477010443759657 7.99062 0.19679 -1.95348 0.24819 0.061608 lidar 1.49824 7.84073 0.159858 7.85 0.15 -3.99972 -0.99993
1477010443809660 7.80356 0.282172 -2.54814 -0.511059 -0.276029 radar 8.01454 7.61269 0.155818 7.7 0.15 -2.99982 0
1477010443859663 7.65739 0.216408 -2.6503 -0.107614 -0.102223 lidar 1.34039 7.54016 0.159641 7.55 0.15 -2.99982 0
1477010443914714 7.54975 0.209414 -2.43248 -0.0923284 -0.125183 radar 0.842691 7.50815 0.0953827 7.45 0.100001 -1.8165 -0.908239
1477010443969766 7.40191 0.110645 -2.42417 0.138926 0.0266165 lidar 0.85716 7.3426 0.0345312 7.35 0.0500011 -1.81648 -0.90823
1477010444024741 7.24068 0.0906687 -2.73631 0.123527 -0.061489 radar 1.29634 7.20598 0.00492725 7.2 9.49949e-07 -2.72851 -0.909507
1477010444079717 7.08711 0.00694012 -2.76559 0.230878 0.0683703 lidar 0.401263 7.05406 -0.0533413 7.05 -0.0499992 -2.72849 -0.909499
1477010444134693 6.98478 -0.108249 -2.34692 0.428732 0.521313 radar 4.02745 6.74585 -0.143185 6.95 -0.15 -1.81898 -1.81898
1477010444189670 6.86852 -0.206582 -2.38756 0.525812 0.633352 lidar 0.241003 6.84972 -0.258748 6.85 -0.25 -1.81896 -1.81897
1477010444239651 6.75643 -0.276578 -2.46806 0.546743 0.569183 radar 0.329641 6.66966 -0.346668 6.75 -0.349999 -2.00076 -2.00075
1477010444289632 6.65284 -0.388353 -2.54465 0.641122 0.682379 lidar 0.402012 6.64329 -0.462604 6.65 -0.449999 -2.00076 -2.00075
1477010444339690 6.60995 -0.552242 -2.38497 0.955576 1.38722 radar 3.80574 6.60862 -0.557035 6.6 -0.549999 -0.998836 -1.99769
1477010444389748 6.54956 -0.651316 -2.3817 1.02604 1.38974 lidar 0.00621901 6.56029 -0.650892 6.55 -0.65 -0.99884 -1.99769
1477010444444769 6.50553 -0.81581 -2.46182 1.22914 1.67107 radar 0.775667 6.40696 -0.842921 6.5 -0.85 -0.908747 -3.63498
1477010444499791 6.46539 -0.97803 -2.56041 1.34579 1.7022 lidar 0.361524 6.45805 -1.05268 6.45 -1.05 -0.908739 -3.63494
1477010444554767 6.35928 -1.00985 -2.21307 1.13159 1.04829 radar 8.22407 6.38626 -1.15695 6.35 -1.15 -1.81897 -1.81898
1477010444609744 6.2965 -1.15917 -2.34571 1.19225 1.04113 lidar 0.625046 6.25499 -1.25007 6.25 -1.25 -1.81896 -1.81896
1477010444664705 6.38807 -1.37619 -2.3822 1.60142 1.69805 radar 26.5173 6.43125 -1.48148 6.3 -1.45 0.909739 -3.63894
1477010444719667 6.38719 -1.55421 -2.54909 1.69799 1.6974 lidar 0.721438 6.36328 -1.65656 6.35 -1.65 0.909727 -3.63891
1477010444769692 6.33903 -1.58056 -1.87354 1.61651 1.38196 radar 10.8035 6.3228 -1.81431 6.3 -1.8 -0.999494 -2.9985
1477010444819718 6.31788 -1.75237 -2.11418 1.6598 1.33668 lidar 2.75972 6.24641 -1.95075 6.25 -1.95 -0.999489 -2.99847
1477010444869719 6.35466 -1.95168 -2.61546 1.78491 1.44152 radar 5.87926 6.31851 -2.10969 6.3 -2.1 0.999984 -2.99994
1477010444919720 6.37262 -2.12303 -2.74891 1.83726 1.41232 lidar 0.867403 6.34644 -2.23829 6.35 -2.25 0.999979 -2.99994
1477010444974743 6.36467 -2.23385 -2.3404 1.84424 1.29677 radar 5.05882 6.32593 -2.40018 6.35 -2.4 0 -2.72613
1477010445029767 6.38323 -2.41297 -2.49277 1.88193 1.25291 lidar 1.28691 6.34927 -2.55175 6.35 -2.55 0 -2.72611
1477010445084742 6.42855 -2.57982 -2.66633 1.94199 1.24493 radar 0.709869 6.43125 -2.71878 6.4 -2.7 0.909499 -2.72851
1477010445139717 6.4683 -2.75293 -2.75868 1.98258 1.21207 lidar 0.594036 6.43257 -2.84245 6.45 -2.85 0.909503 -2.72851
1477010445189758 6.48649 -2.85672 -2.39025 2.00816 1.16094 radar 3.3412 6.46536 -3.00452 6.45 -3 0 -2.99754
1477010445239799 6.51081 -3.01861 -2.50423 2.02207 1.11195 lidar 1.38771 6.44119 -3.14955 6.45 -3.15 0 -2.99754
1477010445294720 6.56898 -3.17522 -2.64957 2.06639 1.09536 radar 0.725891 6.52249 -3.32007 6.5 -3.3 0.910402 -2.7312
1477010445349641 6.61413 -3.34787 -2.73251 2.08686 1.05344 lidar 1.05613 6.5453 -3.45745 6.55 -3.45 0.910402 -2.7312
1477010445404670 6.69668 -3.51057 -2.95916 2.13615 1.04761 radar 0.838933 6.6358 -3.59197 6.65 -3.6 1.81722 -2.72583
1477010445459700 6.77559 -3.67618 -3.01164 2.17213 1.02471 lidar 0.399464 6.76011 -3.75457 6.75 -3.75 1.81721 -2.72581
1477010445514767 6.84262 -3.79678 -2.70715 2.21234 1.00367 radar 1.80946 6.83625 -3.92723 6.8 -3.9 0.907988 -2.72396
1477010445569835 6.91109 -3.9563 -2.7635 2.23348 0.968934 lidar 0.822917 6.85997 -4.05805 6.85 -4.05 0.907976 -2.72393
1477010445624820 6.97919 -4.07168 -2.56225 2.27008 0.95044 radar 1.13402 6.86943 -4.18507 6.9 -4.2 0.909334 -2.72801
1477010445679806 7.03703 -4.22722 -2.60876 2.27807 0.906561 lidar 1.41295 6.94332 -4.34473 6.95 -4.35 0.90933 -2.72799
1477010445734748 7.08793 -4.3124 -2.13846 2.31194 0.88721 radar 3.9451 7.05156 -4.49706 7 -4.45 0.910054 -1.8201
1477010445789690 7.13631 -4.44101 -2.16882 2.32048 0.847929 lidar 1.28534 7.04099 -4.55018 7.05 -4.55 0.910054 -1.8201
1477010445844738 7.21327 -4.5481 -2.24828 2.35255 0.833915 radar 0.570236 7.10252 -4.67934 7.1 -4.7 0.908302 -2.72489
1477010445899786 7.26241 -4.69458 -2.28667 2.34443 0.781127 lidar 2.47646 7.14735 -4.86125 7.15 -4.85 0.908297 -2.72489
1477010445954759 7.3792 -4.83928 -2.77299 2.37194 0.767826 radar 3.89097 7.3138 -5.05204 7.25 -5 1.81907 -2.72861
1477010446009732 7.44386 -5.00159 -2.79411 2.35687 0.71162 lidar 2.58678 7.30424 -5.15404 7.35 -5.15 1.81907 -2.72861
1477010446064786 7.52114 -5.11074 -2.60691 2.37627 0.691244 radar 1.46007 7.29446 -5.23429 7.4 -5.3 0.908194 -2.7246
1477010446119841 7.57758 -5.27676 -2.63768 2.35048 0.627846 lidar 2.95521 7.44737 -5.45308 7.45 -5.45 0.90819 -2.72457
1477010446174794 7.6703 -5.39444 -2.61487 2.36992 0.612464 radar 0.70876 7.63082 -5.61863 7.55 -5.55 1.81974 -1.81974
1477010446229748 7.73842 -5.54255 -2.63526 2.35687 0.566123 lidar 1.51741 7.64356 -5.66706 7.65 -5.65 1.81972 -1.81972
1477010446284703 7.8169 -5.64736 -2.51715 2.37215 0.550134 radar 0.909426 7.60376 -5.74774 7.7 -5.8 0.90983 -2.72951
1477010446339659 7.86777 -5.80406 -2.53525 2.34195 0.490468 lidar 2.4967 7.7342 -5.95374 7.75 -5.95 0.909826 -2.72948
1477010446389694 7.99382 -5.9502 -3.14736 2.35685 0.483436 radar 6.23217 7.82165 -6.06822 7.85 -6.1 1.9986 -2.9979
1477010446439730 8.06454 -6.11355 -3.16524 2.33004 0.432704 lidar 1.77025 7.95703 -6.24328 7.95 -6.25 1.99858 -2.99787
1477010446494754 8.15491 -6.23037 -2.84367 2.34017 0.417064 radar 2.26914 8.17338 -6.44684 8.05 -6.35 1.81738 -1.81739
1477010446549779 8.23458 -6.37656 -2.85374 2.32907 0.383097 lidar 0.738123 8.15891 -6.45335 8.15 -6.45 1.81737 -1.81737
1477010446604767 8.31447 -6.48277 -2.66749 2.33815 0.370631 radar 1.07201 8.08628 -6.51855 8.2 -6.6 0.909293 -2.72787
1477010446659755 8.37113 -6.63851 -2.67928 2.30851 0.321044 lidar 1.62921 8.25411 -6.74791 8.25 -6.75 0.909293 -2.72787
1477010446714702 8.46109 -6.75425 -2.71053 2.31743 0.31262 radar 0.48714 8.25648 -6.78122 8.35 -6.85 1.81994 -1.81993
1477010446769649 8.53087 -6.89408 -2.7139 2.30218 0.280627 lidar 0.721907 8.44494 -6.95805 8.45 -6.95 1.81993 -1.81993
1477010446819646 8.60447 -6.99385 -2.64365 2.30722 0.271556 radar 0.546832 8.39359 -7.01743 8.5 -7.1 1.00006 -3.00018
1477010446869643 8.65332 -7.13753 -2.6586 2.27644 0.227742 lidar 1.39567 8.54925 -7.24433 8.55 -7.25 1.00006 -3.00018
1477010446919691 8.76773 -7.28018 -3.11804 2.28423 0.226303 radar 3.76709 8.64403 -7.39047 8.65 -7.4 1.99807 -2.99712
1477010446969739 8.8321 -7.44123 -3.13437 2.25395 0.184857 lidar 1.22628 8.73559 -7.5421 8.75 -7.55 1.99808 -2.99712
1477010447024687 8.89258 -7.54328 -2.56731 2.24866 0.16575 radar 5.55038 8.87176 -7.71912 8.8 -7.65 0.909955 -1.8199
1477010447079636 8.94452 -7.68699 -2.57527 2.2219 0.130047 lidar 0.907889 8.84538 -7.75497 8.85 -7.75 0.909946 -1.81988
1477010447129681 9.02639 -7.80735 -2.73614 2.22294 0.125399 radar 0.635972 8.88333 -7.88636 8.9 -7.9 0.999086 -2.9973
1477010447179726 9.0693 -7.95496 -2.74959 2.18904 0.0855078 lidar 1.1825 8.95966 -8.0381 8.95 -8.05 0.999095 -2.9973
1477010447234713 9.11019 -8.04322 -2.28764 2.17985 0.0688059 radar 3.90381 8.8564 -8.01424 9 -8.15 0.909309 -1.8186
1477010447289701 9.14928 -8.1774 -2.30099 2.15092 0.0365653 lidar 0.777638 9.05896 -8.24314 9.05 -8.25 0.909301 -1.81859
1477010447339681 9.23139 -8.30908 -2.63542 2.15052 0.0361392 radar 1.91174 9.17781 -8.47056 9.1 -8.4 1.0004 -3.00119
1477010447389662 9.26355 -8.45883 -2.65735 2.11129 -0.0042089 lidar 1.25176 9.15332 -8.54857 9.15 -8.55 1.00038 -3.00117
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1477010495129697 11.2725 -2.61097 -2.69966 -1.92553 0.456314 lidar 0.370643 11.2495 -2.5409 11.25 -2.55 0.909988 2.72995
1477010495184782 11.2198 -2.45402 -2.36363 -1.76401 0.660089 radar 27.2731 11.4549 -2.46508 11.2 -2.4 -0.907692 2.72306
1477010495239868 11.2341 -2.29557 -2.44031 -1.71481 0.672085 lidar 0.41119 11.1705 -2.24061 11.15 -2.25 -0.907683 2.72304
1477010495294756 11.3245 -2.23604 -2.22898 -1.80302 0.482636 radar 24.511 11.2202 -2.08176 11.25 -2.1 1.8219 2.73284
1477010495349645 11.3586 -2.05821 -2.40192 -1.76872 0.489815 lidar 0.564117 11.3536 -1.97104 11.35 -1.95 1.82188 2.73281
1477010495404793 11.3516 -1.91278 -2.39588 -1.70055 0.547575 radar 2.33408 11.224 -1.77367 11.35 -1.8 0 2.71996
1477010495459942 11.3724 -1.72511 -2.56419 -1.66481 0.55292 lidar 0.498096 11.3661 -1.64386 11.35 -1.65 0 2.71993
1477010495514797 11.3704 -1.57268 -2.59763 -1.61811 0.575091 radar 0.432339 11.2691 -1.47976 11.35 -1.5 0 2.73448
1477010495569653 11.3719 -1.39618 -2.69708 -1.58129 0.579845 lidar 0.246109 11.3391 -1.34511 11.35 -1.35 0 2.73446
1477010495619661 11.2605 -1.21271 -2.9373 -1.40331 0.80035 radar 27.995 11.2507 -1.19626 11.25 -1.2 -1.99969 2.99952
1477010495669670 11.2207 -1.05984 -2.96175 -1.35556 0.807071 lidar 0.25919 11.1532 -1.04324 11.15 -1.05 -1.99967 2.99949
1477010495719666 11.1541 -0.890635 -3.12813 -1.28271 0.853658 radar 1.66768 10.9697 -0.89157 11.1 -0.9 -1.00006 3.00024
1477010495769663 11.1001 -0.742541 -3.1268 -1.23609 0.857101 lidar 0.0639805 11.0654 -0.742685 11.05 -0.75 -1.00006 3.00021
1477010495824677 10.9937 -0.554108 -3.40189 -1.14625 0.921703 radar 3.40478 10.8913 -0.655608 10.95 -0.649999 -1.81771 1.81773
1477010495879691 10.9008 -0.448255 -3.23303 -1.07794 0.94075 lidar 0.917939 10.8418 -0.549005 10.85 -0.549999 -1.81772 1.81773
1477010495934684 10.8104 -0.305379 -3.22377 -1.02094 0.948327 radar 0.218818 10.827 -0.442912 10.75 -0.45 -1.81842 1.8184
1477010495989678 10.7069 -0.229866 -3.03963 -0.945538 0.974112 lidar 1.17586 10.6642 -0.353413 10.65 -0.35 -1.8184 1.81839
1477010496039672 10.5336 -0.0496934 -3.7894 -0.85415 1.04813 radar 12.2069 10.5503 -0.248633 10.5 -0.25 -3.00035 2.00024
1477010496089667 10.3978 -0.0013908 -3.58428 -0.766893 1.08693 lidar 2.1093 10.3487 -0.171899 10.35 -0.15 -3.00032 2.00022
1477010496139654 10.3011 0.0738405 -3.20993 -0.717685 1.07115 radar 2.43661 10.2559 -0.115293 10.25 -0.0999996 -2.00053 1.00027
1477010496189641 10.173 0.102839 -3.06318 -0.632015 1.10675 lidar 1.5407 10.137 -0.0462889 10.15 -0.0499992 -2.00053 1.00027
1477010496239639 10.0787 0.150365 -2.71711 -0.573304 1.10443 radar 1.88265 10.0717 0.0165033 10.05 9.49949e-07 -2.00009 1.00004
1477010496289638 9.95926 0.171065 -2.63609 -0.492932 1.13177 lidar 0.896862 9.92833 0.0556031 9.95 0.0500011 -2.00006 1.00003
1477010496339634 9.81128 0.237042 -2.95131 -0.429781 1.14372 radar 2.3703 9.8478 0.0279858 9.8 0.0500011 -3.00025 0
1477010496389630 9.67452 0.222579 -2.85727 -0.333312 1.18641 lidar 2.14868 9.65029 0.0372757 9.65 0.0500011 -3.00024 0
1477010496439659 9.52499 0.259367 -2.98926 -0.267237 1.19538 radar 0.687704 9.54682 0.0997641 9.5 0.100001 -2.99825 0.999409
1477010496489688 9.37398 0.253067 -2.95923 -0.180992 1.22331 lidar 0.873193 9.33515 0.138463 9.35 0.15 -2.99825 0.999409
1477010496544659 9.28501 0.239343 -2.31952 -0.0999084 1.236 radar 6.23387 9.46113 0.134275 9.25 0.15 -1.81915 0
1477010496599631 9.15522 0.225586 -2.31215 -0.0168315 1.25172 lidar 0.261396 9.13787 0.161547 9.15 0.15 -1.81913 0
1477010496649643 8.99697 0.235311 -2.73503 0.0368559 1.24243 radar 2.74059 9.02723 0.196492 9 0.2 -2.99927 0.99976
1477010496699655 8.85434 0.232149 -2.74852 0.0956832 1.23844 lidar 0.0781532 8.82128 0.250523 8.85 0.25 -2.99927 0.99976
1477010496749676 8.69956 0.221466 -2.91841 0.150789 1.23076 radar 0.495373 8.67607 0.247512 8.7 0.25 -2.99873 0