navigation: Analyze the Impact of Sensor Error Modelling on Navigation Performance

Implements the framework presented in Cucci, D. A., Voirol, L., Khaghani, M. and Guerrier, S. (2023) <doi:10.1109/TIM.2023.3267360> which allows to analyze the impact of sensor error modeling on the performance of integrated navigation (sensor fusion) based on inertial measurement unit (IMU), Global Positioning System (GPS), and barometer data. The framework relies on Monte Carlo simulations in which a Vanilla Extended Kalman filter is coupled with realistic and user-configurable noise generation mechanisms to recover a reference trajectory from noisy measurements. The evaluation of several statistical metrics of the solution, aggregated over hundreds of simulated realizations, provides reasonable estimates of the expected performances of the system in real-world conditions.

Version: 0.0.1
Depends: R (≥ 4.0.0), plotly, magrittr, simts
Imports: expm, rbenchmark, leaflet, MASS, pbmcapply, Rcpp (≥ 0.8.0), RcppArmadillo (≥ 0.2.0)
LinkingTo: Rcpp, RcppArmadillo
Suggests: knitr, rmarkdown
Published: 2023-05-16
DOI: 10.32614/CRAN.package.navigation
Author: Davide A. Cucci [aut], Lionel Voirol [aut, cre], Mehran Khaghani [aut], St├ęphane Guerrier [aut]
Maintainer: Lionel Voirol <lionelvoirol at>
License: AGPL-3
NeedsCompilation: yes
SystemRequirements: GNU make
Materials: README NEWS
CRAN checks: navigation results


Reference manual: navigation.pdf
Vignettes: Compare Models
Model Evaluation


Package source: navigation_0.0.1.tar.gz
Windows binaries: r-devel:, r-release:, r-oldrel:
macOS binaries: r-release (arm64): navigation_0.0.1.tgz, r-oldrel (arm64): navigation_0.0.1.tgz, r-release (x86_64): navigation_0.0.1.tgz, r-oldrel (x86_64): navigation_0.0.1.tgz


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