Project Overview

Features

• Real-time state estimation from IMU data.
• Visualization of estimated positions.
• Sensor data logging for later analysis.

Installation

Ensure you have Python installed on your system. Once set up, install the necessary dependencies:

pip install -r requirements.txt

Running the Project

To utilize the navigation system, use the following command-line interface options:

• Run the navigation simulation with synthetic data:

python main.py --simulate

• Collect and log data during real-time execution:

python main.py --log

• Execute all unit tests:

python main.py --test

Example Output

While the system operates, you might see logs like:

Timestamp: 12:01:45.123
Estimated Position: X = 12.34, Y = 7.89
Estimated Orientation: Yaw = 45.0°

Running Tests

Unit tests and integration tests are provided to validate code functionality and robustness. To execute the tests, run the command:

python main.py --test

This will trigger all tests configured within tests/test_inertial_nav.py to verify that everything is functioning as expected.

Project Structure

The repository maintains the following directory structure:

README.md
src/
 ├── __init__.py
 ├── data_handler.py
 ├── inertial_nav.py
 └── visualization.py
tests/
 └── test_inertial_nav.py

Conclusion