{ "_id": "6a169d12acfb0bcc41d7ec15", "Package": "navigation", "Type": "Package", "Title": "Analyze the Impact of Sensor Error Modelling on Navigation\nPerformance", "Version": "0.0.1", "LazyData": "true", "SystemRequirements": "GNU make", "LazyDataCompression": "xz", "Authors@R": "c(\nperson(\"Davide A.\", \"Cucci\", email = \"Davide.Cucci@unige.ch\", role = c(\"aut\")),\nperson(\"Lionel\", \"Voirol\", email = \"lionelvoirol@hotmail.com\", role = c(\"aut\", \"cre\")),\nperson(\"Mehran\", \"Khaghani\", role = c(\"aut\")),\nperson(\"Stéphane\", \"Guerrier\", email = \"Stephane.Guerrier@unige.ch\", role = c(\"aut\"))\n)", "Maintainer": "Lionel Voirol ", "Description": "Implements the framework presented in Cucci, D. A.,\nVoirol, L., Khaghani, M. and Guerrier, S. (2023)\n which allows to analyze the\nimpact of sensor error modeling on the performance of\nintegrated navigation (sensor fusion) based on inertial\nmeasurement unit (IMU), Global Positioning System (GPS), and\nbarometer data. The framework relies on Monte Carlo simulations\nin which a Vanilla Extended Kalman filter is coupled with\nrealistic and user-configurable noise generation mechanisms to\nrecover a reference trajectory from noisy measurements. The\nevaluation of several statistical metrics of the solution,\naggregated over hundreds of simulated realizations, provides\nreasonable estimates of the expected performances of the system\nin real-world conditions.", "License": "AGPL-3", "RoxygenNote": "7.2.3", "Encoding": "UTF-8", "VignetteBuilder": "knitr", "URL": "https://github.com/SMAC-Group/navigation", "BugReports": "https://github.com/SMAC-Group/navigation/issues", "NeedsCompilation": "yes", "Packaged": { "Date": "2026-05-27 07:23:27 UTC", "User": "root" }, "Author": "Davide A. Cucci [aut], Lionel Voirol [aut, cre], Mehran\nKhaghani [aut], Stéphane Guerrier [aut]", "Config/pak/sysreqs": "make", "Repository": "https://cran.r-universe.dev", "Date/Publication": "2023-05-16 16:50:02 UTC", "RemoteUrl": "https://github.com/cran/navigation", "RemoteRef": "HEAD", "RemoteSha": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "MD5sum": "2b15733ede9aebdbb6b1e13b4e5dc16d", "_user": "cran", "_type": "src", "_file": "navigation_0.0.1.tar.gz", "_fileid": "18bc8577b5a27841d38e05955f9f658fc3a8d8fb722b4ebc54dbaf515d22cbf7", "_filesize": 3765547, "_sha256": "18bc8577b5a27841d38e05955f9f658fc3a8d8fb722b4ebc54dbaf515d22cbf7", "_created": "2026-05-27T07:23:27.000Z", "_published": "2026-05-27T07:28:18.150Z", "_distro": "noble", "_jobs": [ { "job": 78027837949, "time": 204, "config": "linux-devel-arm64", "r": "4.7.0", "check": "OK", "artifact": "7234382318" }, { "job": 78027837939, "time": 224, "config": "linux-devel-x86_64", "r": "4.7.0", "check": "OK", "artifact": "7234388303" }, { "job": 78027837967, "time": 219, "config": "linux-release-arm64", "r": "4.6.0", "check": "OK", "artifact": "7234386829" }, { "job": 78027837977, "time": 212, "config": "linux-release-x86_64", "r": "4.6.0", "check": "OK", "artifact": "7234384645" }, { "job": 78027133478, "time": 287, "config": "source", "r": "4.6.0", "check": "OK", "artifact": "7234320777" }, { "job": 78027837941, "time": 177, "config": "wasm-release", "r": "4.6.0", "check": "OK", "artifact": "7234373849" } ], "_buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437", "_status": "success", "_host": "GitHub-Actions", "_upstream": "https://github.com/cran/navigation", "_commit": { "id": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "author": "Lionel Voirol ", "committer": "cran-robot ", "message": "version 0.0.1\n", "time": 1684255802 }, "_maintainer": { "name": "Lionel Voirol", "email": "lionelvoirol@hotmail.com", "login": "lionelvoirol", "linkedin": "in/lionel-voirol-247a5a164", "description": "PhD Candidate Statistics | Lab: @SMAC-Group | University of Geneva | Interests: Statistics, Data Science, Business Analytics\n and Machine Learning", "uuid": 47116310 }, "_registered": true, "_dependencies": [ { "package": "R", "version": ">= 4.0.0", "role": "Depends" }, { "package": "plotly", "role": "Depends" }, { "package": "magrittr", "role": "Depends" }, { "package": "simts", "role": "Depends" }, { "package": "Rcpp", "role": "LinkingTo" }, { "package": "RcppArmadillo", "role": "LinkingTo" }, { "package": "expm", "role": "Imports" }, { "package": "rbenchmark", "role": "Imports" }, { "package": "leaflet", "role": "Imports" }, { "package": "MASS", "role": "Imports" }, { "package": "pbmcapply", "role": "Imports" }, { "package": "Rcpp", "version": ">= 0.8.0", "role": "Imports" }, { "package": "RcppArmadillo", "version": ">= 0.2.0", "role": "Imports" }, { "package": "knitr", "role": "Suggests" }, { "package": "rmarkdown", "role": "Suggests" } ], "_owner": "cran", "_selfowned": false, "_usedby": 0, "_updates": [], "_tags": [], "_stars": 0, "_contributors": [ { "user": "lionelvoirol", "count": 1, "uuid": 47116310 } ], "_userbio": { "uuid": 6899542, "type": "organization", "name": "cran", "description": "Unofficial read-only mirror of all CRAN R packages" }, "_downloads": { "count": 177, "source": "https://cranlogs.r-pkg.org/downloads/total/last-month/navigation" }, "_devurl": "https://github.com/smac-group/navigation", "_searchresults": 19, "_topics": [ "openblas", "cpp" ], "_rbuild": "4.6.0", "_assets": [ "extra/citation.cff", "extra/citation.html", "extra/citation.json", "extra/citation.txt", "extra/contents.json", "extra/navigation.html", "extra/NEWS.html", "extra/NEWS.txt", "extra/readme.html", "extra/readme.md", "manual.pdf" ], "_homeurl": "https://github.com/smac-group/navigation", "_realowner": "smac-group", "_cranurl": false, "_releases": [ { "version": "0.0.1", "date": "2023-05-16" } ], "_exports": [ "compute_coverage", "compute_mean_orientation_err", "compute_mean_position_err", "compute_nees", "make_sensor", "make_timing", "make_trajectory", "navigation", "plot_imu_err_with_cov", "plot_nav_states_with_cov", "X_ellips2ned", "X_ned2ellips" ], "_datasets": [ { "name": "example_1_traj_ellipsoidal", "title": "Example trajectory 1 in ellipsoidal coordinates", "object": "example_1_traj_ellipsoidal", "class": [ "matrix", "array" ], "fields": {}, "rows": 6000, "table": true, "tojson": true }, { "name": "example_1_traj_ned", "title": "Example trajectory 1 in NED coordinates", "object": "example_1_traj_ned", "class": [ "matrix", "array" ], "fields": {}, "rows": 6000, "table": true, "tojson": true }, { "name": "example_2_traj_ellipsoidal", "title": "Example trajectory 2 in ellipsoidal coordinates", "object": "example_2_traj_ellipsoidal", "class": [ "matrix", "array" ], "fields": {}, "rows": 12001, "table": true, "tojson": true }, { "name": "example_2_traj_ned", "title": "Example trajectory 2 in NED coordinates", "object": "example_2_traj_ned", "class": [ "matrix", "array" ], "fields": {}, "rows": 12001, "table": true, "tojson": true }, { "name": "lemniscate_traj_ned", "title": "Lemniscate trajectory in NED coordinates", "object": "lemniscate_traj_ned", "class": [ "matrix", "array" ], "fields": [ "t", "x", "y", "z", "roll", "pitch_sm", "yaw" ], "rows": 60001, "table": true, "tojson": true } ], "_help": [ { "page": "compute_coverage", "title": "Compute Coverage", "topics": [ "compute_coverage" ] }, { "page": "compute_mean_orientation_err", "title": "Compute mean orientation error", "topics": [ "compute_mean_orientation_err" ] }, { "page": "compute_mean_position_err", "title": "Compute mean position error", "topics": [ "compute_mean_position_err" ] }, { "page": "compute_nees", "title": "Compute Normalized Estimation Errror Squared (NEES)", "topics": [ "compute_nees" ] }, { "page": "example_1_traj_ellipsoidal", "title": "Example trajectory 1 in ellipsoidal coordinates", "topics": [ "example_1_traj_ellipsoidal" ] }, { "page": "example_1_traj_ned", "title": "Example trajectory 1 in NED coordinates", "topics": [ "example_1_traj_ned" ] }, { "page": "example_2_traj_ellipsoidal", "title": "Example trajectory 2 in ellipsoidal coordinates", "topics": [ "example_2_traj_ellipsoidal" ] }, { "page": "example_2_traj_ned", "title": "Example trajectory 2 in NED coordinates", "topics": [ "example_2_traj_ned" ] }, { "page": "lemniscate_traj_ned", "title": "Lemniscate trajectory in NED coordinates", "topics": [ "lemniscate_traj_ned" ] }, { "page": "make_sensor", "title": "Construct a 'sensor' object", "topics": [ "make_sensor" ] }, { "page": "make_timing", "title": "Construct a 'timing' object", "topics": [ "make_timing" ] }, { "page": "make_trajectory", "title": "Construct a 'trajectory' object", "topics": [ "make_trajectory" ] }, { "page": "navigation", "title": "Runs \"IMU model evaluation\" or \"INS-GPS-Baro integrated navigation (sensor fusion)\"", "topics": [ "navigation" ] }, { "page": "plot_imu_err_with_cov", "title": "Plot IMU error with covariances", "topics": [ "plot_imu_err_with_cov" ] }, { "page": "plot_nav_states_with_cov", "title": "Plot navigation states with covariance", "topics": [ "plot_nav_states_with_cov" ] }, { "page": "plot.coverage.stat", "title": "Plot multiple 'coverage.stat' objects", "topics": [ "plot.coverage.stat" ] }, { "page": "plot.navigation", "title": "Plot a 'navigation' object", "topics": [ "plot.navigation" ] }, { "page": "plot.navigation.stat", "title": "Plot multiple 'navigation.stat' objects", "topics": [ "plot.navigation.stat" ] }, { "page": "plot.nees.stat", "title": "Plot multiple 'nees.stat' objects", "topics": [ "plot.nees.stat" ] }, { "page": "plot.trajectory", "title": "Plot a 'trajectory' object", "topics": [ "plot.trajectory" ] }, { "page": "print.sensor", "title": "Print a 'sensor' object parameters (name, frequency and error model)", "topics": [ "print.sensor" ] }, { "page": "X_ellips2ned", "title": "Transform position from ellipsoidal to NED coordinates", "topics": [ "X_ellips2ned" ] }, { "page": "X_ned2ellips", "title": "Transform position from NED to ellipsoidal coordinates", "topics": [ "X_ned2ellips" ] } ], "_pkglogo": "https://github.com/cran/navigation/raw/HEAD/man/figures/logo.png", "_readme": "https://github.com/cran/navigation/raw/HEAD/README.md", "_rundeps": [ "askpass", "backports", "base64enc", "broom", "bslib", "cachem", "class", "classInt", "cli", "cpp11", "crosstalk", "curl", "data.table", "DBI", "digest", "dplyr", "e1071", "evaluate", "expm", "farver", "fastmap", "fontawesome", "fs", "generics", "ggplot2", "glue", "gtable", "highr", "htmltools", "htmlwidgets", "httr", "isoband", "jquerylib", "jsonlite", "KernSmooth", "knitr", "labeling", "later", "lattice", "lazyeval", "leaflet", "leaflet.providers", "lifecycle", "magrittr", "MASS", "Matrix", "memoise", "mime", "openssl", "otel", "pbmcapply", "pillar", "pkgconfig", "plotly", "png", "promises", "proxy", "purrr", "R6", "rappdirs", "raster", "rbenchmark", "RColorBrewer", "Rcpp", "RcppArmadillo", "rlang", "rmarkdown", "robcor", "s2", "S7", "sass", "scales", "sf", "simts", "sp", "stringi", "stringr", "sys", "terra", "tibble", "tidyr", "tidyselect", "tinytex", "units", "utf8", "vctrs", "viridisLite", "withr", "wk", "xfun", "yaml" ], "_sysdeps": [ { "shlib": "liblapack", "package": "libopenblas0-pthread", "source": "openblas", "version": "0.3.26+ds-1ubuntu0.1", "name": "openblas", "homepage": "https://www.openblas.net/", "description": "Optimized BLAS (linear algebra) library (shared lib, pthread)" }, { "shlib": "libblas", "package": "libopenblas0-pthread", "source": "openblas", "version": "0.3.26+ds-1ubuntu0.1", "name": "openblas", "homepage": "https://www.openblas.net/", "description": "Optimized BLAS (linear algebra) library (shared lib, pthread)" }, { "shlib": "libstdc++", "package": "libstdc++6", "source": "gcc", "version": "14.2.0-4ubuntu2~24.04.1", "name": "c++", "homepage": "http://gcc.gnu.org/", "description": "GNU Standard C++ Library v3" } ], "_vignettes": [ { "source": "compare_model.Rmd", "filename": "compare_model.html", "title": "Compare Models", "engine": "knitr::rmarkdown", "headings": [], "created": "2023-05-16 16:50:02", "modified": "2023-05-16 16:50:02", "commits": 1 }, { "source": "model_evaluation.Rmd", "filename": "model_evaluation.html", "title": "Model Evaluation", "engine": "knitr::rmarkdown", "headings": [], "created": "2023-05-16 16:50:02", "modified": "2023-05-16 16:50:02", "commits": 1 } ], "_score": 3.278753600952829, "_indexed": false, "_nocasepkg": "navigation", "_universes": [ "cran" ], "_indexurl": "https://smac-group.r-universe.dev/navigation", "_binaries": [ { "r": "4.7.0", "os": "linux", "version": "0.0.1", "date": "2026-05-27T07:26:24.000Z", "distro": "noble", "arch": "aarch64", "commit": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "fileid": "eba7d98eb7119ffb2cde05a87fca09593c6a6e3dc2ceab02479c9b85c7f34622", "status": "success", "check": "OK", "buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437" }, { "r": "4.7.0", "os": "linux", "version": "0.0.1", "date": "2026-05-27T07:26:27.000Z", "distro": "noble", "arch": "x86_64", "commit": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "fileid": "54b7c1e0d1f5e288b6f19b2c80132ac051543125fc19ddc6f1a6a493cd8bf187", "status": "success", "check": "OK", "buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437" }, { "r": "4.6.0", "os": "linux", "version": "0.0.1", "date": "2026-05-27T07:26:29.000Z", "distro": "noble", "arch": "aarch64", "commit": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "fileid": "de906b1c9db9264987abbf8ca3b4f2803322183eb8ee00715d1af77bc5a9275e", "status": "success", "check": "OK", "buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437" }, { "r": "4.6.0", "os": "linux", "version": "0.0.1", "date": "2026-05-27T07:26:24.000Z", "distro": "noble", "arch": "x86_64", "commit": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "fileid": "7b280038430901d6742f3f8530d8418a5935abab7a3d6ac760dfc79090e01aab", "status": "success", "check": "OK", "buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437" }, { "r": "4.6.0", "os": "wasm", "version": "0.0.1", "date": "2026-05-27T07:26:45.000Z", "arch": "emscripten", "commit": "f6bc54a1c6e675c58a24d1d3cb54c9e44398e246", "fileid": "ef6ee5b30c2b25189093aa37a8d724cc6dedfb515486800a5fb2cff636fab380", "status": "success", "buildurl": "https://github.com/r-universe/cran/actions/runs/26496856437" } ] }