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Coordinate transformation

X_ellips2ned(): Transform position from ellipsoidal to NED coordinates
X_ned2ellips(): Transform position from NED to ellipsoidal coordinates

Create objects

make_sensor(): Construct a sensor object
make_timing(): Construct a timing object
make_trajectory(): Construct a trajectory object

navigation(): Runs "IMU model evaluation" or "INS-GPS-Baro integrated navigation (sensor fusion)"

Compute Statistics

compute_coverage(): Compute Coverage
compute_mean_orientation_err(): Compute mean orientation error
compute_mean_position_err(): Compute mean position error
compute_nees(): Compute Normalized Estimation Errror Squared (NEES)

Inspect objects

print(<sensor>): Print a sensor object parameters (name, frequency and error model)

Visualize objects and results

plot(<trajectory>): Plot a trajectory object
plot(<navigation>): Plot a navigation object
plot_nav_states_with_cov(): Plot navigation states with covariance
plot_imu_err_with_cov(): Plot IMU error with covariances
plot(<nees.stat>): Plot multiple nees.stat objects
plot(<coverage.stat>): Plot multiple coverage.stat objects
plot(<navigation.stat>): Plot multiple navigation.stat objects

Data

example_1_traj_ned: Example trajectory 1 in NED coordinates
example_1_traj_ellipsoidal: Example trajectory 1 in ellipsoidal coordinates
example_2_traj_ned: Example trajectory 2 in NED coordinates
example_2_traj_ellipsoidal: Example trajectory 2 in ellipsoidal coordinates
lemniscate_traj_ned: Lemniscate trajectory in NED coordinates