METHODOLOGY FOR REAL TIME CORRECTION AND ADAPTATION OF FILTER MODEL FOR ROBUST VEHICLE ODOMETRY

A method for controlling a vehicle includes receiving input data. The input data includes sensor data from a plurality of sensors of a vehicle. The method further includes filtering the input data with a sliding window Extended Kalman Filter (EKF) to determine a heading and a position of the vehicle. Further, the method includes controlling the movement of the vehicle using the heading and the position of the vehicle determined using the sliding window EKF.