Kalman Filter work simulation

Hello, can anyone tell me, I am trying to assemble a drone with an IntelReal Sense D455 camera and a VN-100 IMU, how to combine everything together? I am especially interested in setting up the Kalman filter, how to do it, is there a possibility to simulate the operation of the filter so that I can adjust the parameters of its operation?

What’s the plan with the camera? Obstacle avoidance, VIO, SLAM?

Thanks for responce, SLAM