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Heading angle (θ) histogram (a) of the estimated reference path; (b) of the raw GPS data; and (c) of the filtered data using the proposed Kalman filter. Data were obtained from a real onboard Navilock NL-402U GPS receiver, along a straight path with a 60° heading angle and at a constant speed of 5 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.
