Location and orientation estimation of a vehicle using kalman filter

I need online implementation of a kalman based location estimation algorithm. Input to the algorithm is a periodic location (latitude, longitude along with orientation in terns of yaw, pitch, roll at that location) at a given increasing time (a location in every two seconds). Output is estimated location at a given time. Ex. If two locations are inputed at times t+2 secs and t+4 secs, I want to able to query tle location any time between these two time points. I need a simple gui to select a txt time including a location and time in every row and create a file with estimated location at times in every row of the input file. The gui should have a canvas playing the incremental path while the algorithm is running. The algorithm should estimate the location at the time given in the next row in the input file. I need the gui to be implemented with swt. The code must be pure java without any dependency to any third party library. comment ratio of the code must me 1 to at least 3 with high details, I need word documentation including detailed explanation of the algorithm steps and how it works. I need a powerpoint presentation containing the same implementation at a simpler level. Details will be discussed in the chat. Deadline is 10 days starting from the acceptance. Any programmer who reads the documentation should be clear about the algorithm and how it works. Documentation should describe how the algorith is tuned, internal parameters (ex. Error coeffs, etc). Also the error limits for each input parameter (lat, lon, yaw, pitch, roll) should be adjustable from gui and as a parameter to the algorithm. Output values should be displayed also on the gui.