NavLab : overview and user guide November 2003
NavLab (Navigation Laboratory) is a powerful and versatile tool intended for navigation system research and development. The main emphasis during the development has been a solid theoretical foundation with a stringent mathematical representation, to ensure that statistical optimality is maintained throughout the entire system. NavLab is implemented in Matlab, and consists of a simulator part and an estimator part. Simulations are carried out by specifying a trajectory for the vehicle, and the available types of sensors. The output is a set of simulated sensor measurements. The estimator part is a flexible aided inertial navigation system, which makes optimal Kalman filtered and smoothed estimates based on the available set of measurements. The measurements can be either from the Simulator or from real sensors of a vehicle. This structure makes NavLab useful for a wide range of navigation applications, including research and development, analysis, real data post-processing and as a decision basis for sensor purchase and mission planning.