Model validation of an open-source framework for post-processing INS/GNSS systems

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.