Nav19

Nav19 is a modular navigation framework intended to provide robust positioning, navigation, and mapping for autonomous systems across land, air, and water platforms. It combines data from multiple sensors, supports real-time fusion, and exposes standardized interfaces for higher-level planning and control. The goal is to enable resilient state estimation in diverse environments, including urban canyons and indoor spaces where single-sensor approaches are insufficient.

The architecture of Nav19 centers on a sensor fusion core, localization and mapping modules, a planning interface, and a security layer. The fusion core uses probabilistic methods to integrate data from GNSS, inertial measurement units, lidar, radar, and cameras. Localization and mapping support both exterior map-based localization and indoor Simultaneous Localization And Mapping (SLAM), with loop closure and map updates as needed. The planning interface coordinates with vehicle or platform control, while the security layer implements data integrity checks and anti-spoofing measures for GNSS signals. Nav19 emphasizes modularity and cross-platform portability, with common data models and messaging compatible with ROS 2 and other middleware.

Key features include multi-sensor fusion for robust state estimation, support for GNSS corrections such as RTK and PPP, time-synchronized processing, and fault detection to handle sensor dropouts. It is designed to be adaptable to various hardware platforms and software ecosystems, encouraging open implementations while allowing proprietary extensions.

Nav19 finds use in autonomous ground vehicles, delivery drones, maritime autopilots, and service robots. Its development emphasizes interoperability, security, and scalability, though it remains dependent on sensor availability and computational resources. See also GNSS, SLAM, INS, and sensor fusion.