SUAS Code is a set of heavily commented MATLAB® routines that provide example methods for performing state estimation (i.e. position and orientation) of a fixed-wing UAV (Unmanned Aerial Vehicle) using GPS, gyros, accelerometers, and a magnetometer as sensors. The code is meant as a companion to the JHU/APL Technical Digest article "Fundamentals of Small Unmanned Aircraft Flight".
SUAS Code provides state estimation examples using both feedback control methods and Extended Kalman Filter (EKF) methods.
May 21, 2013 Update:
SUAS Code provides working state estimation algorithms and multiple example "truth" trajectory data files. There was a request to provide the 6DOF simulation that generated the UAV "truth" data files. With apologies, I am not able to provide that. (The 6DOF is not at all necessary for running and/or modifying the state estimation algorithms in SUAS Code.)