A C++ Program that calculates GNSS/INS LooseCouple using Extended Kalman Filter. Test datasets are included (GNSS_PLAYGROUND1.posT and IMU_PLAYGROUND1.imr)
INS State includes position (3d) / velocity (3d) / attitude (3d) / gyro's bias (3d) / accelerometer's bias (3d) / gyro's scale factor(3d) / accelerometer's scale factor(3d). The state vector is a 21 * 1 vector
We use the AsteRx SBi to collect dataset, which combines GPS/GNSS and an industry-grade IMU (Inertial Measurement Unit) to deliver precise positioning together with 3D attitude (heading, roll, pitch). You can check out this link https://www.directindustry-china.cn/prod/septentrio/product-183002-2282177.html for more info.
Error model of the IMU:
INfo about the frames / units used in this program:
