This repository focuses on the simulated Monocular Vision/INS/GNSS fusion, it is based on https://github.com/huanhexiao/MSCKF-VIG (on the way). The difference of the experimental and simulated data is mainly on the vision front-end, the format of INS and GNSS is same to the real tests. The simulated version is easy and friendly for you to quickly master the principle of multi-sensor integrated navigation.
The data is produced by a self-developed software, you can contact Dr. Ronghe Jin (huanhexiao@whu.edu.cn or 773792173@qq.com) for the simulation code if you have a need.
MSCKF-VIG (https://github.com/huanhexiao/MSCKF-VIG) will be available as soon as the code and data are ready.
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GNSS/INS integration
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Monocular Vision/INS/GNSS fusion
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glog
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Eigen
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OpenCV 3.4
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Ceres
git clone https://github.com/huanhexiao/MSCKF-VIG_sim
mkdir build && cd build
cmake .. && make -j3
The source code is released under GPLv3 license.
Feel free to propose any issue you get confused, or you can to email me directly.