Multisensor Navigation Simulator Documentation

Kurzfassung

In the field of multisensor navigation, multiple complementary sensors are used to form a robust, long-term precise navigation solution. The integrity of the navigation solution is the measure of trust. Usually multisensor navigation algorithm are extended in order to estimate the integrity. When it comes to developing, testing and verifying new algorithms in both fields, it is crucial to have realistic trajectories and the corresponding consistent sensor measurements. Real sensor measurements may contain difficult effects that are not modeled, such as vibrations due to wind or the turbines. That is the reason why it is beneficial to use simulated trajectories and sensor measurements for developing these algorithms. In this project, a simulation environment was developed in MATLAB, which enables users to quickly generate trajectories for airplanes and simulate the corresponding consistent measurements of an IMU sensors and a GPS receiver that are located on the airplane. For the simulated measurements, users have full control over the error characteristics. Furthermore, a graphical user interface was developed for convenient and intuitive operation of the simulation environment