Integrated navigation for INS and GNSS
IGNAV is an INS/GNSS integrated navigation algorithm library developed based on RTKLIB and written in C. It is designed for vehicle applications. It is currently being extended with INS/GNSS fusion algorithms incorporating visual information and LiDAR, and these updates will be added progressively in the future.
IGNAV mainly includes the following functions:
- Loose-coupling algorithms;
- SPP, PPP, DGPS, and tightly coupled RTK algorithms;
- Odometer-assisted navigation;
- Magnetometer-assisted navigation;
- Motion constraints such as NHC, ZUPT, and ZARU;
- Doppler-aided INS/GNSS;
- Dual-antenna heading assistance;
- Static and dynamic alignment initialization;
- Forward and backward INS mechanization;
- Forward and backward INS/GNSS integrated filtering;
- Preliminary support for visual-information-assisted positioning and attitude determination;
- RTS forward/backward smoothing;
- Dynamic display of vehicle trajectory.
Before processing data, IGNAV requires editing the relevant configuration files. The format of the configuration file can be referenced from the RTKLIB documentation. Example configuration files are located in the /example/conf directory.
By default, IGNAV processing results are stored in the same directory as the navapp executable in the bin folder.
IGNAV currently supports compilation only in a Linux environment. The process is the same as compiling a CMake project.
There are corresponding video demos in the /example/demo directory.
Qt must be installed for plot functionality.
Run command: navapp -o ../example/conf/navlib.conf -m 52716
[2] P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems
[3] Wuhan MAP Navigation Technology Co., Ltd., http://www.whmpst.com/cn/
Address: Satellite Navigation and Positioning Technology Research Center, Wuhan University, Su Jinglan
QQ: 1971129844
Email: sujinglan@whu.edu.cn
If you need the professional version of IGNAV, please contact the author.