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

RODRIGO GONZALEZ; JUAN GIRIBET; HÉCTOR PATIÑO

CONTROL ENGINEERING AND APPLIED INFORMATICS

ROMANIAN SOC CONTROL TECH INFORMATICS

Año: 2014

1454-8658

In this work, a simulation framework for low-cost integrated navigation systems called NaveGo is presented. NaveGo simulates measurements from inertial sensors and GPS. It also executes a loosely-coupled integrated navigation algorithm. Complete mathematical models are exposed. To the best of the authors? knowlegde, this paper is the most complete work about a simulation framework for low-cost integrated navigation systems. Simulation results are exposed. NaveGo is validated using a practical approach, which main goal is to evaluate how close in performance are NaveGo and a real integrated navigation system. Thus, simulated sensors are generated based upon a real trajectory, during which real sensors were logged. Then, simulated sensors are corrupted with noise according to real sensors error profiles. Both simulated and real integrated navigation systems are processed. It is found that errors between real and simulated integrated systems are under 1.3 degrees for attitude, under 30 centimeters for 2D position, and under 10 centimeters for vertical position. As a result, it is verified that NaveGo is a suitable simulation tool for low-cost integrated navigation systems.