ECE 591 (004) Fall 2022 project

Background

Final project at NC State University CSC 591/791 & ECE 591 (004), Fall 2022 course.

The goal of the project is to create a foundation for tracking algorithms fusion.

The project written in Python and implements the Unscented Kalman Filter (UKF) / Unscented Transformation (UT) with minimal external dependencies.

More information on UKF can be found under the ./papers/ directory.

Prerequisites

The minimum requirement to run the project is attrs (version 22.1.0) that can be installed using the following command: pip3 install "attrs>=22.1.0".

In addition to attrs, pytest, PyHamcrest and Pylint are used for testing, Sphinx is used as the documentation (docstrings) generator and Matplotlib is used to display the results.

All of them can be installed using the following command:

pip3 install -r ./requirements.txt

Run

To project entry point is ./src/main.py, To run the project execute the following command:

python3 ./src/main.py

Testing

To execute the tests (pytest, doctest and Pylint), execute the following command:

sh ./src/run_tests.sh

Documentation

To build the documentation HTML, execute the following command:

sh ./docs/build_docs.sh

And use your web browser to open the index.html file.

$ google-chrome ./docs/build/html/index.html
$ firefox ./docs/build/html/index.html

Run examples

All measurements

Measurements 10,000 to 15,000

Side note

As part of this project, several tools/tutorials were built for converting formats, e.g.

• GPX to XODR
• TIF to UMAP

More info can be found on a separate repository: https://github.com/xqgex/SecurityofCyberPhysicalSystems_Formats