Navigation Lab: Inertial Drift, GNSS Satellite Geometry (DOP) and Kalman Fusion

Navigation Lab

Loading Blender-built models...

truthINS onlyGNSS fixesfused

Preset

Trajectory

Time of day

Time of day shifts the constellation phase (satellite geometry), not the sun.

IMU grade

Kalman fusion (error-state, 15 states) use GNSS velocity too barometer (height, 1.5 m) magnetometer (heading, 2 deg, biased 3 deg)

UERE sigma

Elevation mask

Constellation

Satellites used

Sky view

Space weather

Outage length

Outages in this lab have natural causes only: tunnels, urban canyons, valleys and ionospheric scintillation.

paths and ghosts sky dome and satellites line-of-sight rays covariance ellipsoid (3 sigma) follow the vehicle

IMU ghost error

Quality

Experiments (measured vs theory)

Each experiment runs the same code as the live simulation and compares it with an independent formula.

The science