Roysdon Ground Truth - Trajectory Smoother

Overview

Centimeter-Level Ground Truth for Navigation, Autonomy, and Validation

The Contemplative Real-Time (CRT) Trajectory Smoother is a state-of-the-art, full-nonlinear Bayesian estimation system designed to generate high-fidelity ground truth trajectories from IMU and GPS data.

Unlike forward-only filters, this system performs global trajectory smoothing, incorporating information from the entire dataset to recover the most probable motion history — including carrier-phase integer ambiguity resolution using the MILES method. The result is centimeter-level accuracy suitable for validation, benchmarking, and scientific ground truth. This toolbox is the reference truth engine behind advanced navigation, estimation, and autonomy research.

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What It Does

The CRT Trajectory Smoother:

• Ingests raw IMU and GPS measurements

• Performs full-nonlinear optimal Bayesian estimation

• Solves GPS carrier-phase integer ambiguity

• Produces ground-truth position, velocity, and attitude

• Outputs results in NED and ECEF

• Provides both low-rate (GPS) and high-rate (IMU) solutions

The system is designed for post-processing of:

• Recorded real-world flight/vehicle data

• Synthetic datasets (e.g., from the Roysdon Signal Generator)

Why CRT Is Different

This is not a filter — it is a smoother

Real-time filters (EKF, UKF) are constrained by causality. CRT removes that constraint. By operating as a trajectory smoother, CRT:

• Uses future and past measurements simultaneously

• Corrects accumulated drift and bias

• Produces globally consistent trajectories

• Achieves accuracy unattainable with forward-only estimators

Integer ambiguity solved, not assumed

Carrier-phase GPS only delivers centimeter accuracy if integer ambiguities are correctly resolved. CRT:

• Explicitly solves integer ambiguities

• Uses the MILES method for robust resolution

• Produces true carrier-phase ground truth, not float approximations

Estimation Architecture

State Vector

• Position

• Velocity

• Attitude

• Gyroscope bias

• Accelerometer bias

Reference Frames

• NED

• ECEF

Rates

• High-rate (IMU)

• Low-rate (GPS)

The architecture is sensor-agnostic and easily extensible to:

• Magnetometers

• Barometers

• Additional aiding sources

Industry-Verified Accuracy

The Trajectory Smoother outputs were directly verified against commercial off-the-shelf ground truth generators, using identical trajectories and configurations.

This verification ensures:

• Sensor statistics match industry reference tools

• Error growth and dynamics behave correctly

• Generated data is suitable for algorithm validation, not just visualization

This makes the toolbox appropriate for aerospace, autonomy, defense, and research programs where credibility matters.

Designed for Engineers

Simple Operation

• One-click execution via MAIN_*.m

• Centralized configuration through CONFIG_*.m

• Sensible defaults for immediate use

• Fully transparent MATLAB implementation

Extensible Architecture

• Clean variable naming consistent with academic and industry literature

• Clear reference-frame conventions (ECEF, NED, ECI)

Output & Results

The Trajectory Smoother automatically:

• Calculates trajectories

• Runs all enabled sensor models

• Plots results

• Saves all outputs (.mat, .fig, .jpg, .doc) to a structured data directory

Typical Use Cases

• Ground truth generation for navigation and autonomy

• Validation of EKF / UKF / factor-graph estimators

• Benchmarking GNSS/INS performance

• Monte-Carlo evaluation

• Flight-test and vehicle-test truth recovery

• Scientific publications requiring defensible truth

• Sensor error and bias characterization

This tool answers the question: “What actually happened?”

Why This Tool Exists

Most teams either:

• Rely on expensive black box tools, or

• Build ad-hoc simulators that lack realism and validation

The Roysdon Nav Signal Generator fills the gap:

• Software-defined

• Physically accurate

• Industry-verified

• Fully inspectable and extensible

It gives engineers control, credibility, and confidence.

Key Advantage

Roysdon LLC delivers production-grade aerospace, navigation, and AI toolchains that collapse years of R&D into immediately deployable engineering systems.

Unlike academic frameworks or vendor-locked platforms, these toolboxes are:

• Built from real aircraft, navigation, and embedded deployments

• Fully inspectable and extensible

• Designed for mission-critical environments

This software directly replaces:

• Fragmented internal toolchains

• Years of bespoke estimator and simulator development

• Vendor-locked black-box solutions

Competitive Advantage

• End-to-end coverage: theory → simulation → real-time systems

• Proven mathematical rigor

• Field-tested architectures

• No dependency on proprietary runtimes

• Suitable for air-gapped and classified environments

Pricing Tiers

Email roysdonfibonaccipress@gmail.com for purchase.

Individual License: $10,000 (one-time)

For independent engineers, researchers, and educators

• Full access to selected toolboxes

• Non-commercial use

• Local execution only

• Source access for learning and experimentation

• Limited email & phone support (additional training fees can be negotiated).

Restrictions

• No resale, redistribution, or commercial deployment

• No SaaS, hosted services, or client deliverables

Typical Buyers

• PhD students, faculty

• Independent aerospace / robotics engineers

• Advanced hobbyists and educators

Startup License: $10,000 (annual)

For early-stage companies and small teams

• Full toolbox access

• Commercial use permitted

• Internal product development allowed

• Up to a fixed number of engineers (e.g., 5–15 seats)

• Limited email & phone support (additional training fees can be negotiated).

Restrictions

• No sublicensing

• No resale as a standalone product

• Revenue cap (e.g., <$10M ARR)

Typical Buyers

• UAV startups

• Robotics companies

• Autonomy, GNSS, and aerospace software ventures

Enterprise License: $25,000 (annual)

For large commercial organizations

• Unlimited internal use

• Multi-team and multi-program deployment

• Commercial products and services permitted

• Optional source escrow

• SLA-backed support and onboarding

• Optional customization and integration support

• Email & phone support (additional training fees can be negotiated).

Optional Add-Ons

• Internal training

• Feature extensions

• Long-term maintenance agreements

Typical Buyers

• Aerospace primes

• Automotive autonomy divisions

• Telecom, robotics, and advanced analytics firms

Government / Defense License $25,000 (annual)

For U.S. Government, FFRDCs, and defense contractors

• Unlimited programmatic use

• Air-gapped and classified-environment compatible

• Program-specific licensing

• Long-term sustainment options

• Compliance-friendly terms (FAR / DFARS-compatible by request)

• Email & phone support (additional training fees can be negotiated).

Optional Add-Ons

• Mission-specific extensions

• Verification & validation support

• Documentation packages for accreditation

• Long-term maintenance agreements

Typical Buyers

• DoD programs

• National labs

• Intelligence and research agencies

Licensing

See License terms here.