MATLAB Project - Inertial Navigation Implementing UKF
Budget: $250 – $750 USD
I am looking for a MATLAB programmer to implement a specific published research paper, which will be provided. The deadline for this project is more than 6 weeks.
Requirements:
- Implement in MATLAB a simple simulation of a marine, ground, and an air vehicle trajectory providing GPS position, velocity, 3-axis accelerometer and 3-axis gyroscope measurements. The simulation should be similar to the simulation and experimental results in the paper and is required to show that the paper was implemented correctly.
- The marine vehicle will be moored where changes in roll, pitch and yaw occur.
- Implement in MATLAB an Unscented Kalman Filter as proposed in the research paper as well as any other equations defined in the paper.
- Ensure that the code is commented such that each equation in the research paper is identified in the code. Provide references and comments in the code for equations that are not discussed in the research paper.
- Ensure that the equations in the research paper are implemented correctly such that they provide reasonable results.
- Ensure that the results are reasonable such that the biases and attitude converge toward and reach roughly the true value.
- Plot the results in a similar way to the research paper and add any other plots the programmer finds useful.
- Plot the position, velocity and attitude of the simulations.
- Plot the error, being the difference between the simulated roll, pitch, yaw, 3-axis accelerometer bias and 3-axis gyro bias and the estimated roll, pitch, yaw , 3-axis accelerometer bias and 3-axis gyro bias provided by the Unscented Kalman filter.
- Do not use any Matlab toolboxes.
Ideal Skills and Experience:
- Familiarity with the implementation of Unscented Kalman Filters - Familiarity with inertial navigation including frame transformations, 3x3 rotation matrices and mathematical integration.
- Familiarity with the implementation of simple simulations for trajectories involving the generation of accelerometer, gyroscope, GPS position and velocity data.
- Proficiency in MATLAB
- Experience with implementing research papers in MATLAB
- Ability to implement mathematical equations provided by the published research paper
Requirements:
- Implement in MATLAB a simple simulation of a marine, ground, and an air vehicle trajectory providing GPS position, velocity, 3-axis accelerometer and 3-axis gyroscope measurements. The simulation should be similar to the simulation and experimental results in the paper and is required to show that the paper was implemented correctly.
- The marine vehicle will be moored where changes in roll, pitch and yaw occur.
- Implement in MATLAB an Unscented Kalman Filter as proposed in the research paper as well as any other equations defined in the paper.
- Ensure that the code is commented such that each equation in the research paper is identified in the code. Provide references and comments in the code for equations that are not discussed in the research paper.
- Ensure that the equations in the research paper are implemented correctly such that they provide reasonable results.
- Ensure that the results are reasonable such that the biases and attitude converge toward and reach roughly the true value.
- Plot the results in a similar way to the research paper and add any other plots the programmer finds useful.
- Plot the position, velocity and attitude of the simulations.
- Plot the error, being the difference between the simulated roll, pitch, yaw, 3-axis accelerometer bias and 3-axis gyro bias and the estimated roll, pitch, yaw , 3-axis accelerometer bias and 3-axis gyro bias provided by the Unscented Kalman filter.
- Do not use any Matlab toolboxes.
Ideal Skills and Experience:
- Familiarity with the implementation of Unscented Kalman Filters - Familiarity with inertial navigation including frame transformations, 3x3 rotation matrices and mathematical integration.
- Familiarity with the implementation of simple simulations for trajectories involving the generation of accelerometer, gyroscope, GPS position and velocity data.
- Proficiency in MATLAB
- Experience with implementing research papers in MATLAB
- Ability to implement mathematical equations provided by the published research paper