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Introduction

ENnUI : exemplar navigator using inertial sensors

ENnUI is a library for inertial navigation providing a collection of reference mechanization equations. Implementing inertial navigation algorithms requires many design decisions from the state space, error models, and estimation frameworks. Design decisions are often application-specific depending on trajectory dynamics, sensor fidelity, and computational resources. Numerically, results are sensitive to the geodetic model parameters as earth-centered navigation is a poorly scaled problem. Our goal is not to implement state-of-the-art performance in terms of fidelity or computational efficiency. Instead, we focus on re-packaging well-known algorithms in a portable framework for benchmarking purposes. ENnUI provides a reference library which can be used to quantify design decisions and benefit future algorithms.

exemplar1 ex·​em·​plar, ig-ˈzem-ˌplär noun one that serves as a model or example: such as

  1. an ideal model
  2. a typical or standard specimen
  3. a copy of a book or writing

License

ENnUI is distributed as open-source software under a MIT License (see the LICENSE file for details). SNL open source approval reference scr-3197.

Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

  1. Merriam-webster.com dictionary. URL: https://www.merriam-webster.com/dictionary/exemplar (visited on 2024-09-17). ↩