The simulation code for my capstone project, structured as follows:

• coordinates.py: ECEF to geodesic coordinate conversions and vice versa. Used to interpret data in the ECEF coordinate frame
• drivers.py: data ingestion and processing from the Zurich Micro Aerial Vechile dataset
• error.py: modelling the distribution of squared distances from the origin to some point whose location is determined by a given Gaussian distribution.
• helpers.py: helper functions.
• kalman.py: an implementation of a working Unscented Kalman filter (UKF), compared against other implementations.
• sim.py: main driver file for the simulation.
• main.py: experimental simulation approach that did not end up panning out.
• vehicle.py: vehicular driving models in both 2D and 3D.