Simplified Integrated Navigation MATLAB Program

This program is designed as a user-friendly MATLAB implementation for integrated navigation systems. The core architecture employs a centralized Kalman filter framework that unifies data fusion from multiple navigation sensors (such as IMU, GPS, and odometers) through a single filtering process. The implementation utilizes MATLAB's matrix operations for state prediction and measurement updates, where the system model integrates sensor inputs through predefined transformation functions. While the current version prioritizes simplicity in its filter structure and sensor interface design, the navigation accuracy requires enhancement. Potential improvements include incorporating additional sensors for redundancy, integrating higher-precision hardware, or implementing advanced filtering algorithms like adaptive Kalman filters with covariance tuning. The modular code structure allows straightforward integration of new sensor models through additional measurement functions. This implementation represents an iterative development process where future versions will focus on optimizing filter parameters and expanding sensor fusion capabilities to improve overall system performance and precision.