GNSS/IMU fusion

GNSS/IMU loosely coupled fusion based on the factor graph. A video of the result can be found on YouTube. We collect real GNSS and IMU on the Xiamen University campus.

Authors: Wenhong Wu, Xunyu Zhong, Xiaozhen Cui, and Dongjie Wu

Menu

• System architecture

• Package dependency

• Package install

• Gazebo simulation

• Run the package

System architecture

There are still many bugs in this project.

Dependency

• gtsam (Georgia Tech Smoothing and Mapping library)

git clone https://github.com/borglab/gtsam.git
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j4

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone wwenhwwenhongich/GNSS-IMU_FGO_FUSION.git
cd ..
catkin_make

Gazebo_simulation

Run the package

1. Run the launch file:

roslaunch gnss_imu_fusion run.launch

2. Play existing bag files:

rosbag play your-bag.bag