GNSS相关资料

常识

GNSS(二)，自动驾驶定位团队的“保护伞”：https://owwjm7oycuv.feishu.cn/docx/BAfsdC34zoN6htx4uUycbvknnub#CiWXdRZfWoqrzmxRptJcH7MYnug
GNSS伪距差分和RTK：https://zhuanlan.zhihu.com/p/680687517
关于GNSS技术介绍（一）：https://zhuanlan.zhihu.com/p/620660159

GNSS融合开源代码

CIFASIS 基于ORBSLAM3和优化框架

https://github.com/CIFASIS/gnss-stereo-inertial-fusion
J. Cremona, J. Civera, E. Kofman, T. Pire, GNSS-stereo-inertial SLAM for arable farming. Journal of Field Robotics, 2023. DOI: https://doi.org/10.1002/rob.22232

MINS 基于滤波的完整框架

https://github.com/ctu-mrs/mins
https://github.com/rpng/MINS?tab=readme-ov-file
文献 MINS: Efficient and Robust Multisensor-aided Inertial Navigation System

RTK-Visual-Inertial-Navigation

https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation/tree/main
文献 A Sliding Window Filter with GNSS-State Constraint for RTK-Visual-Inertial Navigation. Authors: Xiaohong Huang, Cui Yang, Miaowen Wen

EKF简单融合 python脚本

https://github.com/betaBison/gnss-sensor-fusion/tree/master
价值：做简单的滤波组件可以参考其中EKF的实现

IC-GVINS

https://github.com/i2Nav-WHU/IC-GVINS
文献：Xiaoji Niu, Hailiang Tang, Tisheng Zhang, Jing Fan, and Jingnan Liu, “IC-GVINS: A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System,” IEEE Robotics and Automation Letters, 2022.
文献：Hailiang Tang, Tisheng Zhang, Xiaoji Niu, Jing Fan, and Jingnan Liu, “Impact of the Earth Rotation Compensation on MEMS-IMU Preintegration of Factor Graph Optimization,” IEEE Sensors Journal, 2022.