ago, killing at least 43 people – a death toll expected to rise dramatically. The devastation in Marsh Harbour is so overwhelming that an observer might be tempted to call it not only a ghost town but a dead town. But some here, including the Collins family, are determined to tough it out and pick up the pieces, even as they face difficult questions such as: where will the children go to school?

A search and rescue dog takes a rest among the devastation in Marsh Harbour. Photograph: Zach Fagenson/Reuters

As they piled into a pickup truck with family members, a Bible on the dashboard, their journey through Marsh Harbour revealed a town smashed as if by a restless giant, with telegraph poles and trees flattened and boats, cars andlongitudinal, lateral and vertical axes, the attitude of the vehicle body, and the travel course of the vehicle.
One piece of basic information that forms the aforementioned vehicle state estimation is the linear velocity of the rotating centers of the four wheels. For example, this information can be used to assess the wheel slip used in anti-brake-lock controls and traction controls and to estimate the longitudinal velocity of the vehicle. In order to obtain the linear corner velocities, the wheel speed sensors are used. The wheel speed sensors output the products of the wheel rotational speeds and the rolling radii. The wheel rotational speeds are directly measured and the rolling radii are assumed their normal values. During dynamic maneuvers, the variations of the wheel normal loading will affect the