A Robust and High Performance GPS-Aided Inertial Navigation for Geodetic Applications

GPS-INS is a robust, unit tested C++ implementation of a GPS-Aided Inertial Navigation system designed for use in Geodetic applications. The application runs three threads in parallel, one performing inertial measurement error compensation, one running high-rate strapdown integration and one running a Kalman Filter which fuses external measurements and estimates errors in the navigation solution.

Dependencies

• C++ 11 (or greater)
  
• ROS2
  
• CMake (3.22.0 or greater)
  
• Eigen (3.3 or greater)
  
• GoogleTest
  
• NavFuse: https://github.com/ParkerBarrett959/NavFuse
  
• nlohmann JSON

Build

mkdir build
cd build
cmake ..
make

Configuration File Setup

Prior to running the GPS-INS executable, you must edit the system configuration files to match your build paths on your current system. Two changes are needed.

• In GPS-INS/config/master_config.json, set the "config_path" field to the path of the GPS-INS/config directory on your local machine
• In GPS-INS/test/testData/master_config_unit_test.json, set the "config_path" field to the path of the GPS-INS/test/testData directory on your local machine

Run Executable

./GpsInsNavigation </path/to>/GPS-INS/config/master_config.json

Run Unit Tests

./test_gps_ins