Software Engineer III

• Develop and maintain production-quality C++ software for localization, positioning, and navigation systems.
• Design and implement state estimation algorithms utilizing GNSS, inertial sensors, perception systems, and filtering techniques.
• Research, prototype, and deploy localization solutions for autonomous and semi-autonomous machine applications.
• Participate in software design, architecture, documentation, validation, testing, and product quality activities.
• Support functional safety design and software validation processes.
• Collaborate with cross-functional teams to advance localization technology and mentor less experienced engineers.

• Bachelor’s degree in Engineering, Computer Engineering, Computer Science, Software Engineering, Robotics, Mechatronics, or a related technical field.
• 5+ years of software development experience.
• Strong expertise in C++ and proficiency in Python.
• Experience with State Estimation and Inertial Measurement Technology.
• Strong debugging, troubleshooting, and software lifecycle knowledge.
• Ability to identify, analyze, and resolve complex software challenges.

Desired Attributes

• Robotics or autonomous systems development experience.
• Experience with Kalman Filters, Extended Kalman Filters (EKF), and Error State Filters.
• Knowledge of SLAM, localization frameworks, and graph optimization techniques.
• Experience with ROS (Robot Operating System).
• Strong mathematical foundation in linear algebra, 3D geometry, statistical modeling, and navigation systems.
• Understanding of vehicle dynamics, physics-based modeling, and coordinate transformations.

This is a full-time position with a full benefit package listed below that includes opportunities for professional growth, direct hire by our customers, and additional opportunities within our own organization., Pay Range: $80,000 - $100,000 - Commensurate with experience

About RFA Engineering

RFA Engineering has provided product development and engineering services to industry leading customers since 1943. Our primary focus is the development of off highway equipment including agricultural, construction, mining, recreational, industrial, and special machines. Our work includes concept development, product design, documentation, problem-solving, simulation, optimization, and testing of components, systems and complete machines. Our engineering staff is located at our Engineering Center in Minneapolis, branch office in Dubuque, IA, and at numerous customer sites throughout the U.S.

Competitive Benefits

• Health and Dental Insurance
• Health Savings Account
• TelaDoc: Virtual Health Care
• Vision Insurance
• Company Paid / Supplemental Life Insurance
• Company Paid Long-Term Disability
• Supplemental Short-Term Disability
• Retirement Savings Account (Traditional 401k & Roth 401k)
• Flexible Spending Plan Dependent Care
• Bonus Plan (Exempt Employees Only)
• Paid Time Off (PTO)
• Paid Holidays
• Bereavement Leave
• Employee Assistance Programs (EAP)
• Education Assistance

Equal Opportunity and Veteran Friendly

RFA Engineering ( is an engineering service provider dedicated to delivering our clients with timely engineering support and expertise. We are seeking an Entry-Mid Level candidate to become an integral part of our engineering team. The selected candidate will work with an experienced engineering staff using state-of-the-art engineering tools & processes. This position will operate onsite at our customer’s world-class engineering and manufacturing facility.