EXTENDED KALMAN FILTER FOR SOFTWARE AUTO GUIDE TRACTORS

I need to implement Kalman Extendido's Filter to fuse the sensor inercial (IMU) and the GPS. The idea is that if in some moment the sign of the GPS gets lost or is of low quality (zones of shade) the vehicle could follow his path with a minimal margin of mistake from the information supplied by the IMU. In addition this filter would smooth the path with which we would manage to reduce the movements of the steering wheel caused by imprecisions of the GPS or the attitude of the vehicle. (Balancing, warping and yaw). The information that the GPS provides to us is the latitude, length, speed and course (The course ranges very much, especially with the stopped vehicle. It is calculated from the previous position) and those that the IMU provides to us are acceleration and drafts in each of his axes (XYZ). In spite of read great credit on this filter in the last months I have not just dealt how to implement it in the application (Visual Basic). I think that with Kalman Extendido's Filter it would smooth all the sudden oscillations that the vehicle does to me and would give him stability to the course. Please say to me if it can help me, and the price Thank you

Visual Basic

ID do Projeto: #17139583

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