NaveGo: an open-source MATLAB toolbox for simulating integrated navigation systems.
The underlying NaveGo's mathematical model is based upon two articles, which reading is recommended:
R. Gonzalez, J.I. Giribet, and H.D. Patiño. NaveGo: a simulation framework for low-cost integrated navigation systems, Journal of Control Engineering and Applied Informatics, vol. 17, issue 2, pp. 110-120, 2015. http://ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=2478
R. Gonzalez, J.I. Giribet, and H.D. Patiño. An approach to benchmarking of loosely coupled low-cost navigation systems. Mathematical and Computer Modelling of Dynamical Systems, vol. 21, issue 3, pp. 272-287, 2015. www.tandfonline.com/doi/abs/10.1080/13873954.2014.952642