INU

Author

Affiliation

Aaron Nielsen

White Noise Technology, LLC

Abstract

Pyodide adaptation of INU example

Inertial Navigation Utilities (INU)

Inertial Navigation Utilities (INU) (GitLab) is a pure python package you can pip install by David Woodburn.

This is an adaptation to use INU in pyodide of ekf.py

Packages are specified in the quarto yml

pyodide:
  packages:
    - matplotlib
    - numpy
    - r3f
    # - time - not supported in pyodide
resources:
  - "_external/inu/inu.py"

Import the pacakges

Function describing an aircraft path

Extended Kalman fitler

Define simulation

Plot the true path

Simulate GPS measurements

Add noise to true position.

Plot the GPS path

Inverse mechanize

Computes accelerometer and gyro measurements from the trajectory.

Run the extended Kalman filter

Convert to curvilinear coordinates

Show the results

Comparison of truth and estimate

Errors