Model Validation of an Open-source Framework for Post-processing INS/GNSS Systems

Rodrigo Gonzalez, Carlos A. Catania, Paolo Dabove, Juan Carlos Taffernaberry, Marco Piras

2017

Abstract

The development of new approaches in the GIS research community may require the use of a computational tool to post-process GNSS and inertial sensors data in order to get more accurate position, velocity, and orientation angles (attitude) information. An open-source framework for simulating integrated navigation systems (INS/GNSS) called NaveGo has been developed using MATLAB/GNU Octave and is freely available on-line. Although preliminary tests have shown that NaveGo appears to work properly, a deep examination must be carried out to confirm that this framework is an adequate tool for post-processing INS/GNSS information. The main goal of this work is to produce a validation methodology to show that NaveGo mathematical model works within its specifications. Firstly, static measurements from inertial sensors are processed and analysed by NaveGo applying the Allan variance for profiling typical errors. Some details of Allan variance procedure are exhibited. Then, performances of NaveGo and Inertial Explorer, a closed-source commercial package software for INS/GNSS integration, are compared for a real-world trajectory. It is statistically concluded that NaveGo presents close accuracy to Inertial Explorer for attitude and position. Consequently, it is demonstrated that NaveGo is an useful INS/GNSS post-processing framework that can be used in GIS applications.

Paper Citation

in Harvard Style

Gonzalez R., Catania C., Dabove P., Taffernaberry J. and Piras M. (2017). Model Validation of an Open-source Framework for Post-processing INS/GNSS Systems . In Proceedings of the 3rd International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM, ISBN 978-989-758-252-3, pages 201-208. DOI: 10.5220/0006313902010208

in Bibtex Style

@conference{gistam17,
author={Rodrigo Gonzalez and Carlos A. Catania and Paolo Dabove and Juan Carlos Taffernaberry and Marco Piras},
title={Model Validation of an Open-source Framework for Post-processing INS/GNSS Systems},
booktitle={Proceedings of the 3rd International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM,},
year={2017},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006313902010208},
isbn={978-989-758-252-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Geographical Information Systems Theory, Applications and Management - Volume 1: GISTAM,
TI - Model Validation of an Open-source Framework for Post-processing INS/GNSS Systems
SN - 978-989-758-252-3
AU - Gonzalez R.
AU - Catania C.
AU - Dabove P.
AU - Taffernaberry J.
AU - Piras M.
PY - 2017
SP - 201
EP - 208
DO - 10.5220/0006313902010208