11-State GPS Extended Kalman Filter Simulation:
In this simulation, an aircraft is traveling east and executes a 180 degree turn to the left. As with the previous case, the 11-State EKF does well in tracking the motion:





However, since the 11-state filter assumes a nominally constant acceleration flight path, it does much better during the deterministic turn. There is still a transient at the beginning and end of the turn due to the non-zero jerk (i.e., non-zero acceleration rate) but this is significantly better than the 8-state results:




Zoomed view of the velocity error:




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