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Heading angle (θ) histogram, (a) of the real ideal path; (b) of the grid-quantized path; and (c) of the recovered path after applying the proposed Kalman filter. Simulated data were obtained for a straight path with a 60° heading angle and at varying speeds of between 5 and 10 km/h. The histogram has been normalized to have a unitary area, representing an approximation to the probability density function (pdf) of the heading angle statistical random variable.
