Module sim

Simulation utilities and CSV data loading for strapdown inertial navigation.

This module provides:

• A struct (TestDataRecord) for reading and writing test data to/from CSV files
• Functions for running simulations like dead reckoning
• NavigationResult structure for storing and analyzing navigation solutions
• CSV import/export functionality for both test data and navigation results
• Unit tests for validating functionality

Structs

NavigationResult

Generic result struct for navigation simulations.

TestDataRecord

Struct representing a single row of test data from the CSV file.

Functions

closed_loop

Closed-loop GPS-aided inertial navigation simulation.

dead_reckoning

Run dead reckoning or “open-loop” simulation using test data.

initialize_ukf

Helper function to initialize a UKF for closed-loop mode.

print_ukf

Print the UKF state and covariance for debugging purposes.