š„ Dashboard
ā FlightFinder
Quantum Orbital
Aircraft Viewer
Stl Viewer
š¬ Wind Profile
šŖ½ Airfoil Lab
ā Mass-Spring-Damper
šÆ Inverted Pendulum
š Kalman Filter
š¹ PI Control Lab
š¹ PID Control Lab
š” ISA Troposphere
šÆ Pendulum PID
ā Reaction Wheel
āæ 15-STATE EXTENDED KALMAN FILTER // INS/GPS NAVIGATION
INS/GPS Kalman Filter
Real-time IMU bias and covariance estimation simulation
Simulation Control
āµ PLAY
ā² RESET
š° GPS ON
SIMULATION SPEED
5Ć
ā Sensor Modifier Scales
ACCEL BIAS SCALE
1.0Ć
GYRO BIAS SCALE
1.0Ć
ACCEL NOISE SCALE
1.0Ć
GYRO NOISE SCALE
1.0Ć
GPS POS NOISE
1.0Ć
GPS VEL NOISE
1.0Ć
š Process Noise (Q)
q_pos
1.0e-4
q_vel
5.0e-3
q_att
1.0e-4
q_ba
1.0e-6
q_bg
1.0e-8
š” Measurement Noise (R)
r_pos
6.25
r_vel
0.09
š Initial Covariance (Pā)
p0_pos
10.0
p0_vel
1.0
p0_att
0.01
p0_ba
0.01
p0_bg
1.0e-4
NED Position [meters]
Ground Truth
EKF Estimate
GPS Measurements
NED Velocity [meters/sec]
Ground Truth
EKF Estimate
GPS Measurements
Specific Force (Body Accel) [m/sĀ²]
Clean Specific Force
Measured (Noisy + Bias)
Angular Rate (Body Gyro) [rad/s]
Clean Angular Rate
Measured (Noisy + Bias)
NAVIGATION SYSTEM STATE
SIMULATION TIME
0.0 s
Step 0 / 12001
POS ERROR RMS
0.00 m
Max: 0.00 m
EST. ACCEL BIAS X / Y / Z
ā
True: [0.05, -0.03, 0.08]
EST. GYRO BIAS X / Y / Z
ā
True: [1e-3, -1.5e-3, 2e-3]
GPS RECEPTION
ACTIVE
GPS rate: 1.0 Hz