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EKF Sensor Fusion
Back to AURORA-NAV
Extended Kalman Filter Navigation
Multi-sensor fusion for underwater position estimation
Simulation
Sensor Config
Filter Tuning
Error Analysis
Navigation Simulation
Mission Duration [s]
Vehicle Speed [m/s]
Trajectory Type
Straight Line
Circular
Lawnmower Survey
Random Walk
Run
Reset
Active Sensors
INS (100 Hz)
DVL (5 Hz)
USBL (0.5 Hz)
Depth (10 Hz)
Position Estimate
Real-time Metrics
0.00
X Position (m)
0.00
Y Position (m)
-50.0
Depth (m)
45.0
Heading (°)
0.85
Position Error (m)
1.50
Velocity (m/s)
INS Parameters
Accel Bias [mg]
Gyro Bias [°/h]
ARW [°/√h]
DVL Parameters
Velocity σ [m/s]
Scale Factor Error [%]
Bottom Lock Range [m]
USBL Parameters
Range σ [m]
Bearing σ [°]
Update Rate [Hz]
Sensor Noise Comparison
Process Noise (Q)
Position [m²]
Velocity [m²/s²]
Attitude [rad²]
Update Filter
State Covariance (P)
0.25
0.01
0.00
0.01
0.25
0.00
0.00
0.00
0.04
Position covariance (X, Y, Z) in m²
Covariance Evolution
Navigation Performance
0.42
RMS X Error (m)
0.38
RMS Y Error (m)
0.65
3D RMS Error (m)
0.52
CEP50 (m)
1.85
Max Error (m)
0.12
Drift (%/km)
Error Time Series
Error Distribution