A system , comprising: a sensor platform simulator for simulating two or more hardware configurations comprising two or more virtual cameras, wherein the two or more hardware configurations comprise at least a first hardware configuration and a second hardware configuration which are different from each other; a module for simulating one or more virtual environments within which the hardware configurations move; a module for simulating motion of the two or more simulated hardware configurations within the one or more virtual environments; a module for generating synthetic experiment data for the two or more simulated hardware configurations having the simulated motion within the one or more virtual environments; and a module for iterating the module for generating synthetic experiment data so as to: generate synthetic experiment data for the first hardware configuration with the simulated motion in the one or more virtual environments; and generate synthetic experiment data for the second hardware configuration with the simulated motion in the one or more virtual environments; characterized in that the module for iterating the module for generating synthetic experiment data is arranged to apply one or more localization algorithms to the simulated movement of the two or more hardware configurations with the simulated motion in the one or more virtual environments to determine performance of the two or more hardware configurations as a localization solution. a sensor platform simulator for simulating two or more hardware configurations comprising two or more virtual cameras, wherein the two or more hardware configurations comprise at least a first hardware configuration and a second hardware configuration which are different from each other; a module for simulating one or more virtual environments within which the hardware configurations move; a module for simulating motion of the two or more simulated hardware configurations within the one or more virtual environments; a module for generating synthetic experiment data for the two or more simulated hardware configurations having the simulated motion within the one or more virtual environments; and a module for iterating the module for generating synthetic experiment data so as to: generate synthetic experiment data for the first hardware configuration with the simulated motion in the one or more virtual environments; and generate synthetic experiment data for the second hardware configuration with the simulated motion in the one or more virtual environments; characterized in that the module for iterating the module for generating synthetic experiment data is arranged to apply one or more localization algorithms to the simulated movement of the two or more hardware configurations with the simulated motion in the one or more virtual environments to determine performance of the two or more hardware configurations as a localization solution. generate synthetic experiment data for the first hardware configuration with the simulated motion in the one or more virtual environments; and generate synthetic experiment data for the second hardware configuration with the simulated motion in the one or more virtual environments; characterized in that the module for iterating the module for generating synthetic experiment data is arranged to apply one or more localization algorithms to the simulated movement of the two or more hardware configurations with the simulated motion in the one or more virtual environments to determine performance of the two or more hardware configurations as a localization solution. <EOS>