Simulator to generate realistic data from a vehicle driving in a mine

Abstract: This project aims to develop a simulator for generating realistic data from vehicles operating in underground mines, encompassing positional data and sensor values of the velocity and angle. The project addresses the challenge of analyzing the Hybrid Positioning algorithm within Mobilaris Onboard, a navigation system for underground mines. The absence of the 100% ground truth for vehicle positions in the post-analysis of sensor log files necessitates the creation of this simulator. The project's mission includes generating vehicle paths and corresponding sensor readings, focusing on realism. Additional considerations include introducing realistic noise and integrating the simulator's output with visualization tools. Furthermore, the project aims to develop a tool for comparing simulated sensor values with actual sensor data, facilitating algorithm refinement and development. The project also incorporates time series analysis to interpret the sensor data generated by the simulator. This approach is crucial for understanding patterns and trends in the vehicle's positional and velocity data over time, providing valuable insights for refining the navigation algorithm.