Hardware-in-the-Loop (HIL) Navigation Simulator with Kalman Filter Integration

Project Overview

Developed a robust Hardware-in-the-Loop (HIL) simulation framework designed to test and validate autonomous navigation algorithms in dynamic environments before physical deployment.

Technical Implementation

Core Microcontroller:** ESP32 leveraged for real-time processing and communication.

Sensor Fusion:** Integrated an Inertial Measurement Unit (IMU) to capture precise acceleration and angular velocity data.

Algorithmic Optimization:** Implemented a custom Kalman Filter in MATLAB to denoise raw sensor telemetry, achieving high-accuracy state estimation.

Development Environment:** Arduino IDE for firmware development and MATLAB for real-time data visualization and simulation control.

Key Outcomes

Successfully mimicked real-world kinetic motion through a closed-loop HIL testing bench.

Significantly reduced sensor drift and noise, ensuring stable navigation telemetry for autonomous systems.