As already indicated, a MM is used in order to predict the expected position of the model vehicle at the next (half)frame time point. As illustrated by Figure 24, the initialisation branch of the intraframe loop can be replaced by the result of the prediction step. Possibly apart from the fact that some of the Kalman-Filter parameters may differ from those used during the update step immediately after the initialisation, the update step following a prediction step is performed analogous to the one already explained.
Figure 24: The initialisation branch of the intraframe loop can be replaced by the result of the prediction step.
As the result of repeating this prediction-actualization cycle for the vehicle image used as example so far, we obtain the trajectory shown in Figure 36.