The py4nav from serhatsoyer

py4nav's Introduction

py4Nav

Navigation code in Python

This repo is for my personal study of some navigation concepts
Jupyter Notebooks have some markdown cells which contain explanations in LaTeX which are sometimes rendered incorrectly by GitHub. So, it is sometimes better to study locally
Examples in this repo are not ordered
All code and all examples are prone to all kinds of errors
Any corrections, suggestions, improvements, etc. are welcome

/topics/trajectory/trajectory.ipynb
- Draw 2D or 3D trajectories
- Some matplotlib settings for publication
/topics/scipy_spatial_transform/rotation.ipynb using scipy.spatial.transform.Rotation
- Random rotation generation
- Chain of rotations
- Rotate vectors
- Conversion among quat, matrix, rotvec, euler representations of rotations
- Estimate the rotation between vectors
- Magnitude of a rotation
/topics/scipy_spatial_transform/slerp.ipynb using scipy.spatial.transform.Slerp
- Interpolation and/or resampling of rotations
/topics/sensor_characterization/allan.ipynb using allantools
- Read real sensor data from an iPhone7 using pandas
- Plot gyro and accelerometer Allan deviation curves
/topics/kinematics/kinematics.ipynb
- Some kinematics equations from Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition - Paul Groves

Compare the results with the indicated values from datasheets for /topics/sensor_characterization/allan.ipynb
- Read ARW, VRW, and bias instability values from the plots if possible
- Try to find the iPhone7 or a similar smartphone's IMU specs
- Study ARW and VRW units
- Convert the units correctly
Study and demonstrate KF basics. Find a popular and stable library if any exists. Implement yourself otherwise
Study and demonstrate extended KF basics
Study and demonstrate unscented KF basics