Merge Yenni's code
Merged with Yenni's code
Dividing the current time by 1000L is not correct!!!
fixed the data structure for inserting data. We had already the same
problem (maybe by merging some code this problem was inserted again)
added static receiver configuration for testing
cleaned the log.log
Merged Yenni's code for Kalman Filter (basically it was just a renaming
of the class nama KalmanFilter)