This is a Autonomus Soaring algorithm, with the scripts required to simulate it's operation. It should be run using MATLAB, by executing the GUI.m file. For a more extensive explanation go to this post. Based on Peter Braswell's Ardusoar code. Extended with a second measurement (thermal-induced roll moment), an Unscented Kalman Filter, Particle Filter, scripted and parallelized execution of soaring simulations in the context of Philipp Oettershagen's Journal of Field Robotics publication.
In the following picture shows the algorithm's estimate of the thermal center location (blue track).
