Optimization-Based GNSS/INS Integrated Navigation System

Overview

OB_GINS

Optimization-Based GNSS/INS Integrated Navigation System

OB_GINS

We open-source OB_GINS, an optimization-based GNSS/INS integrated navigation system. The main features of OB_GINS are as follows:

  • A sliding-window optimizer for GNSS/INS integration;

  • Abstract IMU-preintegration implementation, including:

    • The normal IMU preintegration without the Earth's rotation consideration;
    • The normal IMU/ODO preintegration;
    • The refined IMU preintegration with the Earth's rotation consideration;
    • The refined IMU/ODO preintegration;
  • Implementation of the marginalization;

  • Tools for attitude parameterization and coordinate frames;

  • Tools for file IO;

Authors: Hailiang Tang, Xiaoji Niu, and Tisheng Zhang from the Integrated and Intelligent Navigation (i2Nav) Group, Wuhan University.

Related Paper:

  • Hailiang Tang, Xiaoji Niu, Tisheng Zhang, Jing Fan, and Jingnan Liu, “Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization,” Sep. 2021, Accessed: Sep. 08, 2021. [Online]. Available: https://arxiv.org/abs/2109.03010v1.
  • Le Chang, Xiaoji Niu, and Tianyi Liu, “GNSS/IMU/ODO/LiDAR-SLAM Integrated Navigation System Using IMU/ODO Pre-Integration,” Sensors, vol. 20, no. 17, p. 4702, Aug. 2020, doi: 10.3390/s20174702.
  • Junxiang Jiang, Xiaoji Niu, and Jingnan Liu, “Improved IMU Preintegration with Gravity Change and Earth Rotation for Optimization-Based GNSS/VINS,” Remote Sensing, vol. 12, no. 18, p. 3048, Sep. 2020, doi: 10.3390/rs12183048.

1 Prerequisites

1.1 System and compiler

We recommend you use Ubuntu 20.04 with the newest compiler (g++>=8.0 or clang>=7.0).

1.2 Ceres

Follow Ceres installation instructions.

1.3 abseil-cpp

Follow abseil-cpp installation instructions.

1.4 Eigen3

sudo apt install libeigen3-dev

1.5 yaml-cpp

sudo apt install libyaml-cpp-dev

2 Build OB_GINS and run demo

Once the prerequisites have been installed, you can clone this repository and build OB_GINS as follows:

# Clone the repository
git clone https://github.com/i2Nav-WHU/OB_GINS.git ~/

# Build OB_GINS
cd ~/OB_GINS
mkdir build && cd build
cmake ../ -DCAMKE_BUILD_TYPE=Release
make -j8

# Run demo dataset
cd ~/OB_GINS
./bin/ob_gins ./dataset/ob_gins.yaml

# Wait until the program finish

3 Datasets

3.1 Demo dataset

We offer a demo dataset with configuration file, which are located at dataset directory.

3.2 awesome-gins-datasets

One can find our open-source datasets at awesome-gins-datasets.

3.3 Your own dataset

The data formats used in OB_GINS are the same as the formats defined at awesome-gins-datasets. You can follow the formats to prepare your own datasets, or you can modify the source code as you need.

4 Acknowledgements

We thanks VINS-Fusion for providing a excellent platform for SLAM learners.

5 License

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Hailiang Tang ([email protected]) or open an issue at this repository.

For commercial usage, please contact Prof. Xiaoji Niu ([email protected]).

Issues
  • Question about dVel and dTheta sampling frequency

    Question about dVel and dTheta sampling frequency

    I have seen in many of your papers that icm20602 datasets are in 200hz. I would like to know the raw imu sampling freqency. is imu samples (eg 1000hz) are trapzoidql integrated to achieve dvel and dtheta. Or it is a simple devided by 200 to represent dtheta and devel?

    opened by iceberg1369 5
  • 请教关于文章中ekf好于图优化的问题

    请教关于文章中ekf好于图优化的问题

    非常高兴学习这篇代码, 以下有三个问题想请教武大朋友们

    1. 请教关于图优化在网站中理论上是非常有利的 http://www.i2nav.com/index/newListDetail_yw.do?newskind_id=f8990a24cf86440483d7821d9c2975c9&newsinfo_id=e8eee7a6c9314db5b69508f3b4539f33

    exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization 关于这篇文章中的比较 以ekf与m2相比, 似乎单纯在gnss-imu融合中, 基于优化的方式没有太多优势?

    image

    关于2020这篇文章的差异 https://www.mdpi.com/2072-4292/12/18/3048 这篇似乎推导更以vins为基础去补偿地球自转,柯次力等, 不过结果与exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization稍有不同, 请教是定义上有不同,需要做什么样的调整,如旋转顺序,imu定义方向不同等

    1. 请教关于文档中的noise, 与 vins之间的 noise单位上存在等价转换关系吗 , 对于系统有影响吗? ob_gins: arw: 0.24 # deg/sqrt(hr) vrw: 0.24 # m/s/sqrt(hr) gbstd: 50.0 # deg/hr abstd: 250.0 # mGal corrtime: 1.0 # hr

    vins: #imu parameters The more accurate parameters you provide, the better performance acc_n: 0.1 # accelerometer measurement noise standard deviation. gyr_n: 0.01 # gyroscope measurement noise standard deviation.
    acc_w: 0.001 # accelerometer bias random work noise standard deviation.
    gyr_w: 0.0001 # gyroscope bias random work noise standard deviation.

    opened by arenas7307979 1
  • [ERROR] : sorry, unimplemented: non-trivial designated initializers not supported

    [ERROR] : sorry, unimplemented: non-trivial designated initializers not supported

    hi, thank you for your sharing, I'm having some problems when compiling, and I think g++8 should be able to handle that, but if g++ is an older version, what should I do to correct this code for successful build this project image

    opened by arenas7307979 1
  • Can't finish build without 'findabsl.cmake'

    Can't finish build without 'findabsl.cmake'

    First I build following instruction, while undergoing cmake step, error occurs like : CMake Error at CMakeLists.txt:41 (find_package): By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "absl", but CMake did not find one.

    Could not find a package configuration file provided by "absl" with any of the following names:

     abslConfig.cmake
     absl-config.cmake
    

    Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set

    And I run ccmake .. to modify the path of absl to '/home/gary/Source/abseil-cpp/build/' The ccmake .. dorp error as: include could not find load file:

     /home/gary/Source/abseil-cpp/build/abslTargets.cmake
    

    Call Stack (most recent call first): CMakeLists.txt:38 (find_package)

    opened by Gary2077 1
Owner
i2Nav-WHU
Integrated and Intelligent Navigation Group, Wuhan University
i2Nav-WHU
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