Abstract
Abstract. This paper presents the concept of an architecture for a system that helps researchers in the field of Geomatics to speed up their daily research on kinematic geodesy, navigation and positioning fields. The presented ideas correspond to an extensible and modular software system aimed at the development of new navigation and positioning algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC’s system GEMMA is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms or model sensors needs to be taken into account. As a consequence, change poses a much smaller problem for CTTC’s research activities is this specific area. This system includes several standalone tools that may be combined in different ways to accomplish various goals; that is, it may be used to perform a variety of tasks, as, for instance, (1) define positioning and navigation scenarios, (2) simulate different kinds of sensors, (3) validate new navigation algorithms or (4) evaluate the quality of an estimated navigation solution.
Highlights
Nowadays, the research community is constantly developing new positioning and navigation algorithms
This paper presents the concept of an architecture for a system that helps researchers in the field of Geomatics to speed up their daily research on kinematic geodesy, navigation and positioning fields
Change poses a much smaller problem for CTTC’s research activities is this specific area. This system includes several standalone tools that may be combined in different ways to accomplish various goals; that is, it may be used to perform a variety of tasks, as, for instance, (1) define positioning and navigation scenarios, (2) simulate different kinds of sensors, (3) validate new navigation algorithms or (4) evaluate the quality of an estimated navigation solution
Summary
The research community is constantly developing new positioning and navigation algorithms. This paper presents the concept of an architecture for a system whose target is to provide a reliable framework where research related to positioning, navigation and sensor modelling may take place The goal of such system is to become the basic toolset for researchers in these areas, avoiding the need to start anew each time a new project begins or, thanks to some of the tools included in this architecture, not having to organize and execute costly data acquisition campaigns when (new or not) sensors need to be evaluated. GEMMA is a portable, extensible and modular software system aimed at the development of new navigation and positioning algorithms as well as at the evaluation of the performance of sensors It has been conceived as a research toolset useful in laboratory environments (as opposed to workshop or factory ones) (Navarro, 1999). When not working in a real-time environment, the trajectory estimation tool will not be connected to an acquisition system but will use logged (pre-recorded) data (measurements), information coming from one or more of the available signal generators, or both
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