Package: navigation 0.0.2

Lionel Voirol

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.

Authors:Davide A. Cucci [aut], Lionel Voirol [aut, cre], Mehran Khaghani [aut], Stéphane Guerrier [aut]

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navigation_0.0.2.tgz(r-4.6-emscripten)
manual.pdf |manual.html✨
DESCRIPTION |NEWS
card.svg |card.png
navigation/json (API)

# Install 'navigation' in R:

install.packages('navigation', repos = c('https://smac-group.r-universe.dev', 'https://cloud.r-project.org'))

Bug tracker:https://github.com/smac-group/navigation/issues

Pkgdown/docs site:https://smac-group.github.io

Uses libs:

openblas– Optimized BLAS
c++– GNU Standard C++ Library v3

Datasets:

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

On CRAN:

openblas cpp

5.10 score 6 stars 21 scripts 346 downloads 12 exports 90 dependencies

Last updated from:a36ba8ed2c. Checks:13 OK. Indexed: yes.

Target	Result	Time
linux-devel-arm64	OK	259
linux-devel-x86_64	OK	215
source / vignettes	OK	316
linux-release-arm64	OK	242
linux-release-x86_64	OK	217
macos-release-arm64	OK	152
macos-release-x86_64	OK	250
macos-oldrel-arm64	OK	131
macos-oldrel-x86_64	OK	309
windows-devel	OK	237
windows-release	OK	235
windows-oldrel	OK	208
wasm-release	OK	168

Exports:compute_coverage compute_mean_orientation_err compute_mean_position_err compute_nees make_sensor make_timing make_trajectory navigation plot_imu_err_with_cov plot_nav_states_with_cov X_ellips2ned X_ned2ellips

Dependencies:askpass backports base64enc broom bslib cachem class classInt cli cpp11 crosstalk curl data.table DBI digest dplyr e1071 evaluate expm farver fastmap fontawesome fs generics ggplot2 glue gtable highr htmltools htmlwidgets httr isoband jquerylib jsonlite KernSmooth knitr labeling later lattice lazyeval leaflet leaflet.providers lifecycle magrittr MASS Matrix memoise mime openssl otel pbmcapply pillar pkgconfig plotly png promises proxy purrr R6 rappdirs raster RColorBrewer Rcpp RcppArmadillo rlang rmarkdown robcor s2 S7 sass scales sf simts sp stringi stringr sys terra tibble tidyr tidyselect tinytex units utf8 vctrs viridisLite withr wk xfun yaml

Compare Models

Rendered fromcompare_model.Rmdusingknitr::rmarkdown

Last update: 2026-06-16
Started: 2023-04-26

Model Evaluation

Rendered frommodel_evaluation.Rmdusingknitr::rmarkdown

Last update: 2026-06-16
Started: 2023-04-26

Help page	Topics
Compute Coverage	compute_coverage
Compute mean orientation error	compute_mean_orientation_err
Compute mean position error	compute_mean_position_err
Compute Normalized Estimation Errror Squared (NEES)	compute_nees
Example trajectory 1 in ellipsoidal coordinates	example_1_traj_ellipsoidal
Example trajectory 1 in NED coordinates	example_1_traj_ned
Example trajectory 2 in ellipsoidal coordinates	example_2_traj_ellipsoidal
Example trajectory 2 in NED coordinates	example_2_traj_ned
Lemniscate trajectory in NED coordinates	lemniscate_traj_ned
Construct a 'sensor' object	make_sensor
Construct a 'timing' object	make_timing
Construct a 'trajectory' object	make_trajectory
Runs "IMU model evaluation" or "INS-GPS-Baro integrated navigation (sensor fusion)"	navigation
Plot IMU error with covariances	plot_imu_err_with_cov
Plot navigation states with covariance	plot_nav_states_with_cov
Plot multiple 'coverage.stat' objects	plot.coverage.stat
Plot a 'navigation' object	plot.navigation
Plot multiple 'navigation.stat' objects	plot.navigation.stat
Plot multiple 'nees.stat' objects	plot.nees.stat
Plot a 'trajectory' object	plot.trajectory
Print a 'sensor' object parameters (name, frequency and error model)	print.sensor
Transform position from ellipsoidal to NED coordinates	X_ellips2ned
Transform position from NED to ellipsoidal coordinates	X_ned2ellips

Package: navigation 0.0.2

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

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