Note: This tool has known outstanding issues/limitations and is still being developed and tested. Once mature, it is planned to migrate into the standard NavPy module as a sub-module.

This module will develop a tool chain to simulate sensors commonly found on navigation systems. The objective is to define a set of way points and use this module to simulate inertial and magnetometer measurements, as would be measured on board the vehicle.

• inertial_sensors.py : defines error statistics for three classes of inertial sensors
• sensor.py : class that simplifies interaction with time series sensor or trajectory data for navigation simulations. Associated tests in sensorTest.py.
• imu_sensor.py : IMU sensor simulator class. This class uses true IMU values and adds errors based on the sensor quality specification. Associated tests in imu_sensorTest.py.
• sim_mag.py : simulate magnetometer measurements as measured on board vehicle.
• pos2imu.py : functions for converting 2D position data into true imu measurements using backward differencing.
• kfutilities.py : utilities for Kalman filtering. For example, discrete process noise statistics specification. Associated test in kfutilitiesTest.py.

traj_gen.py: define a path for the car using mouse-clicks on map. Generates the true path, accel, vertical gyro and magnetometer measurements. This will save several data files.

sim_car.py: Load sensor data files, corrupt the true imu output, and dead-reckon forward in time.