01Satellites are not enough
A GPS receiver hands you a position several times a second, and every one of them is a guess with a margin. Under a bridge, beside a grandstand, in a tunnel, it hands you nothing at all. A lap timer that only listens to satellites is a lap timer that loses the lap.
5 Hzminimum fix rate before timing will arm
02So it keeps going without them
The moment fixes stop arriving, the cluster carries on working out where you must be. It already knows how fast each wheel is turning and how hard you are turning the wheel, because it is reading the car’s own bus. That is enough to keep moving the dot.
03A model of your car, specifically
Steering wheel angle is divided by the steering ratio to get the angle of the front wheels, then a bicycle model turns that and your speed into a rate of rotation. Those numbers are your car’s, not a generic constant: a 2.575 meter wheelbase and a 13.5:1 rack, with the front wheels clamped to the 38 degrees they can physically reach.
2.575 mwheelbase · 13.5:1 steering ratio · ±38° lock
04And the real sensor when it has one
The car also carries a yaw rate sensor, and a measurement always beats a model. If a reading has arrived within the last quarter second and is physically plausible, it is used directly instead. Anything under a third of a degree per second is treated as straight ahead, so sensor noise cannot slowly rotate you off the road.
250 msmaximum age before the model takes over again
05It knows a burnout from a lap
Wheel speed is only useful if the wheels are gripping. All four are filtered and compared, and when the rears exceed the fronts by more than a small margin the fronts are believed instead. Light the tires up out of a corner and your position stays on the track rather than launching down the straight.
0.8 mphor 3% of front speed, whichever is greater
06And it does not snap back
When satellites return, the estimate is not thrown away. Each new fix pulls the position roughly a quarter of the way toward it, and only when the fix is worth trusting and the disagreement is neither trivial nor absurd. The dot converges over a second or two instead of jumping across the map mid-corner.
28%blend per fix, between 0.5 m and 24 m of correction