README

Overview

This project is for creating a simulation of moving vehicles or objects and using various state estimation techniques to estiamte the vehicle states.

Vehicles and state estimation algorithms are implemented in C++ and simulation data is written to binary files for reading in and visualising with Python and Matplotlib.

Vehicles currently supported:

• Drone with 3D position and velocity states that flies in a random walk motion

See the documentation for more information on the vehicle models.

Setup

mkdir build
cd build
cmake .. -DCMAKE_PREFIX_PATH=<path to the cmake build folder of your Eigen installation>
make

Compiling Latex documentation:

cd docs
pdflatex docs.tex

Run simulation

./DroneStateEstimation

Unit tests

To run unit tests:

./UnitTests