A small matlab work

help with matlab simulation needed for navigation. - project completed till methodology. I have done my project till its methodology so I just need help in creating a simulation to my already done work I need working simulation using the formula and some explanation on how to achieve with different inputs Actually just do it the way u find most appropriate as long I get a simulation My work is already almost complete Final Requirements: Simulation, Results, Discussion and Conclusion. see the attached file carefully.