RGIOE:A Real-time GNSS/INS/Odometer Integrated Navigation Algorithm based on Extend Kalman Filter

A Real-time GNSS/INS/Odometer Integrated Navigation Algorithm based on Extend Kalman Filter.

Description

This is an implementation of GNSS/INS/Odometer multi-sensor fusion algorithm base on extend Kalman filter. A high precise inertial mechanization is also implemented. We also take account of NHC and ZUPT. A C-tyle interface is provided for embedded applicatons. We designed a console applicaiton and a UI version for a post-processing. A real-time simulation based on ROS will be implemented soon. Brief ad follows:

1. Loosely coupled algorithm
2. High precise mechanization
3. Real-time and post-processing supported
4. EKF based

Compile

The algorithm library (in Inc and Src directory) and only depends on Eigen, so it can run on different platform, such as x86 or ARM (including cotex-M) To compile the executable program demo, you need to install the following library and all of them can be obtained by package manager :

1. fmt
2. yaml-cpp
3. glog
4. Qt,包含qt-base,qt5-qwt,

Usage

Both the executable console program and UI program is able to load the configure file in format of YAML. Some demo configure file are provided in directory yaml . In terminal, you can use the following command:

PostDataFusion <configure.yml>

The executable program UiDataFusion is easy to use. In UiDataFusion, you can use file->load to choose an configure. some of this feature is under development.

C style API

To use this library in C environment such as STM32 and DSP, C style functions are provided.

Performance

see Doc/performance.md