Design of an extended Kalman filter for an underwater vehicle. I need the extended Kalman filter to process the range (the distance ) and bearings (the angle) data which are in polar co-ordinates to give me the Cartesian co-ordinates x and y i.e the position of the underwater vehicle. Since the Ultra Short Baseline system gives range and bearing (R and θ (theta)). Also the reading are corrupted with noise so the design of the filter should be such that it reduces the noise and gives accurate position of the vehicle. I have added a file for reference. Will elaborate more once the project is hired.
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Bro, please provide details about what you exactly want. I did implement ekf for my own papers and if I find it possible I will adapt it for your problem.