Analyze position uncertainty growth under different sensor configurations and failure scenarios
The covariance matrix tracks navigation uncertainty in the Kalman filter. This tool analyzes how uncertainty grows without aiding and how different sensors reduce uncertainty. Compare scenarios to understand sensor redundancy, failure modes, and observability. The covariance trace shows total position uncertainty - lower is better.
| Scenario | Position Error @ 1hr | Velocity Error @ 1hr | Operational Status |
|---|---|---|---|
| All Sensors | 2.3 m | 0.02 m/s | Excellent |
| DVL Failure | 45 m | 0.15 m/s | Degraded - LBL required |
| LBL Failure | 8 m | 0.03 m/s | Good with DVL |
| INS Only | 800 m | 1.2 m/s | Dead reckoning only |
| INS + DVL | 12 m | 0.02 m/s | Good for short missions |
| INS + LBL | 3.5 m | 0.08 m/s | Acceptable |