EXTENDED FILTER KALMAN CONVERT FUNCTION MATHLAB TO VISUAL BASIC 6.0

I need to convert an extended kalman filter encoded in mathlab language to visual basic 6.0. I require a single function to which pass as parameters: X_GPS, Y_GPS, Z_GPS, Velocity_GPS, Bearing_GPS, Acel_X_IMU, Acel_Y_IMU, Acel_Z_IMU, ROLL, PITCH, YAW, I returned some coordinates X, Y, Z, Bearing filtered by the filter kalman extended. I attach a PDF file with the code I want to translate from Mathlab to Visual Basic 6.0. In appendix D, the code I want to convert appears. How much it would cost me and how long it would take to get the job done. Thank you very much.