├── .gitignore ├── Final_Project ├── OrientationView.m ├── Project_Report.pdf ├── Project_description.pdf ├── Qq.m ├── Somega.m ├── Sq.m ├── dQqdq.m ├── filterTemplate.m ├── fp.m ├── logdata │ ├── Calibration.mat │ ├── allsensors_01.mat │ ├── noacc.mat │ ├── nogyro.mat │ ├── nomag.mat │ └── onlygyro.mat ├── main.m ├── mu_g.m ├── mu_m.m ├── mu_normalizeQ.m ├── myfilter.m ├── nonLinKFprediction.m ├── nonLinKFupdate.m ├── nonLinearKalmanFilter.m ├── q2euler.m ├── sensordata.jar ├── showIP.m ├── startup.m ├── tu_qw.m └── tu_qw_randwalk.m ├── HA01 ├── HA01_Analysis.pdf ├── HA01_Analysis_Implementation.pdf ├── HA01_Description.pdf ├── HA01_Implementation.pdf ├── HA01_Review.pdf ├── affineGaussianTransform.m ├── approxGaussianTransform.m ├── covm2pca.m ├── fp.m ├── gaussMixMMSEEst.m ├── jointGaussian.m ├── main.m ├── posteriorGaussian.m ├── sigmaEllipse2D.m └── test.m ├── HA02 ├── HA02_Analysis.pdf ├── HA02_Analysis_Implementation.pdf ├── HA02_Description.pdf ├── HA02_Implementation.pdf ├── HA02_Review.pdf ├── affineGaussianTransform.m ├── approxGaussianTransform.m ├── covm2pca.m ├── fp.m ├── gaussMixMMSEEst.m ├── genLinearMeasurementSequence.m ├── genLinearStateSequence.m ├── jointGaussian.m ├── kalmanFilter.m ├── kalmanFilter2.m ├── linearPrediction.m ├── linearUpdate.m ├── main.m ├── posteriorGaussian.m ├── sigmaEllipse2D.m └── test.m ├── HA03 ├── HA03_Analysis.pdf ├── HA03_Analysis_Implementation.pdf ├── HA03_Description.pdf ├── HA03_Implementation.pdf ├── HA03_Review.pdf ├── affineGaussianTransform.m ├── approxGaussianTransform.m ├── coordinatedTurnMotion.m ├── covm2pca.m ├── dualBearingMeasurement.m ├── fp.m ├── gaussMixMMSEEst.m ├── genLinearMeasurementSequence.m ├── genLinearStateSequence.m ├── genNonLinearMeasurementSequence.m ├── genNonLinearStateSequence.m ├── jointGaussian.m ├── kalmanFilter.m ├── kalmanFilter2.m ├── linearPrediction.m ├── linearUpdate.m ├── main.m ├── nonLinKFprediction.m ├── nonLinKFupdate.m ├── nonLinearKalmanFilter.m ├── posteriorGaussian.m ├── sigmaEllipse2D.m └── sigmaPoints.m ├── HA04 ├── HA04_Analysis.pdf ├── HA04_Analysis_Implementation.pdf ├── HA04_Description.pdf ├── HA04_Implementation.pdf ├── HA04_Review.pdf ├── MapProblemGetPoint.m ├── SLAM.m ├── Xk.mat ├── affineGaussianTransform.m ├── approxGaussianTransform.m ├── coordinatedTurnMotion.m ├── covm2pca.m ├── dualBearingMeasurement.m ├── fp.m ├── gaussMixMMSEEst.m ├── genLinearMeasurementSequence.m ├── genLinearStateSequence.m ├── genNonLinearMeasurementSequence.m ├── genNonLinearStateSequence.m ├── images │ └── drawing.svg ├── isOnRoad.m ├── jointGaussian.m ├── kalmanFilter.m ├── kalmanFilter2.m ├── linearPrediction.m ├── linearUpdate.m ├── main.m ├── nonLinKFprediction.m ├── nonLinKFupdate.m ├── nonLinRTSSupdate.m ├── nonLinRTSsmoother.m ├── nonLinearKalmanFilter.m ├── pfFilter.m ├── pfFilterStep.m ├── plotPartTrajs.m ├── plotPostPdf.m ├── posteriorGaussian.m ├── rangeBearingMeasurements.m ├── resampl.m ├── sigmaEllipse2D.m └── sigmaPoints.m 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