AEM 4331, Fall 2022
If you have git installed on your machine and have github ssh credentials linked to your github account, you can use git clone from the command line. Navigate to where you want the repository to be put, and then do the following:
>> git clone git@github.com:TrevorBurgoyne/GPS-Denied-Nav.git
This automatically begin tracking the repository using git, allowing you to push commits, etc. from the command line.
Otherwise, you can also just download the code by clicking on the green Code button on the github page, and then download the repository as a ZIP file.
The two main entrypoints are Simulation/imu_test.m and GNSS INS Filters/Case_Study_1/MATLAB/gnss_ins_EKF_loose_integration.m.
To start, run Simulation/imu_test.m, which will create a .mat file with the trajectory/sensor details. Within Simulation/imu_test.m, to select a trajectory just uncomment the desired trajectory and comment out any other trajectories.
After imu_test.m has run, change the load path in GNSS INS Filters/Case_Study_1/MATLAB/gnss_ins_data_loader.m to match the desired trajectory. Then you can run GNSS INS Filters/Case_Study_1/MATLAB/gnss_ins_EKF_loose_integration.m and the integration will begin. The results will automatically be plotted using the script GNSS INS Filters/Case_Study_1/MATLAB/plot_EKF_output.m
If the flight time is something other than 20min, the start and end times will need to be changed in GNSS INS Filters/Case_Study_1/MATLAB/gnss_ins_filter_config.m. Other parameters, such as those relating to the GPS/IMU drift, can also be changed in the config.
The book referenced in GNSS INS Filters/ is GNSS Applications and Methods by Demoz Gebre-Egziabher & Scott Gleason. Much of the code was provided for educational purposes by Professor Gebre-Egziabher.