Estimate the position and attitude of NASA flight using Kalman Filter

[ThreeMonth03]

After the discussion with @yungyuc @j8xixo12 in scisprint, we decide to use NASA dataset to solve coordinate tracking problem by Kalman Filter.
In order to fullfill the task, we will refer issue #684, and divide the task into 4 subtasks, including.

• (@j8xixo12) implement a download script: PR Add prototype code to download NASA data #688
• (@ThreeMonth03) preprocess data. By the way, we should not align data with linear interpolation. PR Implement NASA flight data loader #696
• (@xingularity) as a baseline, estimate the position and attitude of NASA flight only using IMU data.
• Estimate the position and attitude of NASA flight using IMU data and lidar data.

[yungyuc]

Thank you, @ThreeMonth03 . This is a good organization. Please create individual PRs for the segregated tasks. The original PR #684 can be closed.

Some tasks may be combined in the new PRs to be created, but keep each to use less than 300-500 lines of diff.

[j8xixo12]

I have created #688 for implementing a download script.

[xingularity]

HI everyone.

Let me take the last one, "Estimate the position and attitude of NASA flight using IMU data and lidar data".

[ThreeMonth03]

I have created #688 for implementing a download script.

I will make a pull request of item2 after the merge of issue #688.

[yungyuc]

@j8xixo12 @ThreeMonth03 @xingularity discussed on discord and here is the summary:

1. "Estimate the position and attitude of NASA flight using IMU data and lidar data" (item 2) requires code to transform ECEF frame/coordinate to IMU. That is, to use lidar data, the ECEF-to-IMU frame transform is needed. It does not yet have a prototype.
2. The first item "Implement a download script" blocks the items follows it.
3. "Preprocess data" (item 2) and "estimate the position and attitude of NASA flight only using IMU data" (item 3) are not highly coupled and can be handled in parallel. @ThreeMonth03 is working on "Preprocess data" (item 2) and @xingularity for "estimate the position and attitude of NASA flight only using IMU data" (item 3).

@ThreeMonth03 and @xingularity, please leave a comment for when you plan to have PRs ready.

[yungyuc]

@ThreeMonth03 why did you write "divide the task into 5 subtasks" while there are only 4 items?

[ThreeMonth03]

@ThreeMonth03 why did you write "divide the task into 5 subtasks" while there are only 4 items?

Here is a typo. There are 5 subtasks orginally. The fifth subtasks is to make a numpy based Kalman Filter, to evaluate the correctness of modmesh::KalmanFilter. However, after discussing with @j8xixo12 , we decide to remove this subtask because we have already tested modmesh::KalmanFilter.

[yungyuc]

Thank you for the clarification. Please correct the typo.