Validation of Doppler Lidar Sensor using Covariance Analysis

A novel Doppler LiDAR sensor has been developed with the help of NASA technology transfer. This sensor can make highly accurate, three-dimensional velocity measurements in the body frame of a vehicle. However, the practicability of such a sensor in an IMU-mechanized navigation solution is unknown. A covariance analysis can be run with a simulation flight across multiple trajectories as well as different IMU grades to understand the sensors accuracy and contribution to a navigation system. With a full simulated analysis of this sensor, it is much easier for researchers and others to understand the full benefits that a Doppler Lidar system might bring to a navigation solution. We conduct the analysis by way of covariance analysis as well as Monte Carlo and give a brief explanation of what covariance analysis is and how it can be used to obtain results for this new sensor. We define this new software tool we have created and speak on how researchers can use it to conduct covariance analysis tests of their own.