Images from NavLab
NavLab can plot a range of figures containing numerical summaries and many different 2D and 3D plots with a total of more than 500 graphs.
This figure shows am example trajectory simulated with NavLab. The black line is the programmed trajectory. The blue crosses are the simulated position measurements.
This second figure shows recorded data from the HUGIN 1000 AUV. The blue crosses are again position measurements. The figure shows how the real-time Kalman Filter (green line) is affected by the position measurement outlier, while the smoothed result (red line) is not.