A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and slip variables for a small-scale robotic tracked vehicle. The principal goal of the method is to enable terrain property estimation. The methodology requires kinematic and dynamic models for skid-steering, as well as tractive force models parameterized by key soil parameters. Simulation studies initially used to verify the model basis are described, and results

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... sented from application of the estimation method to both simulated and experimental study of a 60-kg robotic tracked vehicle. Preliminary results show the method can effectively estimate vehicle trajectory relying only on the model-based estimation and onboard sensor information. Estimates of slip on the left and right track as well as slip angle are essential for ongoing work in vehicle-based soil parameter estimation. The favorable comparison against motion capture data suggests this approach will be useful for laboratory and field-based application.