PNaFF: A modular software platform for testing hybrid position estimation algorithms

PNaFF (personal navigation filter framework) is a comprehensive simulation and filtering test bench that is being developed within the Personal Positioning Research Group at the Department of Mathematics of Tampere University of Technology. Hybrid positioning is a process where measurements from different sources are used to obtain position estimate. PNaFF provides tools for comparison and visualization of the performance of hybrid positioning filters that estimate the current state from measurements and the previous state estimate. New filters can be added to PNaFF easily and the performance of the new filter can be assessed instantly. Different kinds of measurements can be used in estimation, and it is simple to add new measurement types.