NaveGo: a simulation framework for low-cost integrated navigation systems

RODRIGO GONZALEZ; GIRIBET, J. I.; H. D. PATIÑO

Journal of Control Engineering and Applied Informatics

IFAC

Año: 2015 vol. 17 p. 110 - 120

In this work, a simulation framework for low-cost integrated navigation systemscalled NaveGo is presented. NaveGo simulates measurements from inertial sensors and a GPSreceiver. It also executes a loosely-coupled navigation algorithm. Complete mathematical modelsare shown. As example, simulation results for a particular scenario are exhibited. NaveGo isdeveloped in MATLAB and freely distributed under an open source license. It is the authors'believe that this article is the most complete work about a simulation environment for low-costintegrated navigation systems. NaveGo is validated by using a practical approach, which maingoal is to evaluate how close in performance is a simulated navigation system to a real one. Thus,simulated sensors are generated based upon a real trajectory, during which real sensors werelogged. Then, simulated sensors are corrupted with noises according to real sensors error proles.Both simulated and real navigation systems are processed. It is found that absolute dierencesbetween real and simulated systems are under 0.6 degrees for attitude, under 23 centimetresfor 2D position, and under 10 centimetres for vertical position. As a result, it is veried thatNaveGo is a suitable simulation tool for the design and analysis of low-cost integrated navigationsystems.