Journal of Positioning, Navigation, and Timing (J Position Navig Timing; JPNT)
Citation: Son, J. H., Oh, S. H., & Hwang, D.-H., 2023, Design of Trajectory Generator for Performance Evaluation of Navigation Systems, Journal of Positioning, Navigation, and Timing, 12, 409-421.
Journal of Positioning, Navigation, and Timing (J Position Navig Timing) 2023 December, Volume 12, Issue 4, pages 409-421. https://doi.org/10.11003/JPNT.2023.12.4.409
Received on 23 November 2023, Revised on 27 November 2023, Accepted on 30 November 2023, Published on 15 December 2023.
License: Creative Commons Attribution Non-Commercial License (https://creativecommons.org/licenses/bync/4.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
1Department of Electronics Engineering, Chungnam National University, Daejeon 34134, Korea
2Advanced Technology Laboratory, Microinfinity Co., Ltd., Daejeon 34012, Korea
†Corresponding Author: E-mail, dhhwang@cnu.ac.kr; Tel, +82-42-821-5670; Fax, +82-42-823-5436
In order to develop navigation systems, simulators that provide navigation sensors data are required. A trajectory generator that simulates vehicle motion is needed to generate navigation sensors data in the simulator. In this paper, a trajectory generator for evaluating navigation system performance is proposed. The proposed trajectory generator consists of two parts. The first part obtains parameters from the motion scenario file whereas the second part generates position, velocity, and attitude from the parameters. In the proposed trajectory generator six degrees of freedom, halt, climb, turn, accel turn, spiral, combined, and waypoint motions are given as basic motions with parameters. These motions can be combined to generate complex trajectories of the vehicle. Maximum acceleration and jerk for linear motion and maximum angular acceleration and velocity for rotational motion are considered to generate trajectories. In order to show the usefulness of the proposed trajectory generator, trajectories were generated from motion scenario files and the results were observed. The results show that the proposed trajectory generator can accurately simulate complex vehicle motions that can be used to evaluate navigation system performance.
trajectory generator, simulator, navigation system
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Conceptualization, S. H. Oh and D.-H. Hwang; methodology, J. H. Son, S. H. Oh and D.-H. Hwang; software, J. H. Son; supervision, S. H. Oh and D.-H. Hwang; writing – review & editing, D.-H. Hwang.
The authors declare no conflict of interest.