Rtk in GSS

This project contains the open source codes for the paper "Global RTK Positioning in Graphical State Space" This paper will be presented at ION GNSS+ 2022. The library was built in Ubuntu 16.04. The results may be different for different OS. If any problem was found by you, please propose an issue or report to 4050627@qq.com. The rtk part was modified from RTKlib to C++ style.

How to use this project

1)Required

CMake --> sudo apt-get install cmake
Boost --> sudo apt-get install libboost-all-dev
Eigen --> sudo apt-get install libeigen3-dev

sudo cp -r /usr/local/include/eigen3 /usr/include
Intel TBB (optional)->sudo apt-get install libtbb-dev
gtsam --> git clone https://github.com/borglab/gtsam.git

and Install gtsam
IntelMkl(optional)

2）Clone repository to local machine

RTKinGSS -->git clone https://github.com/shaolinbit/RTKinGSS

3)Build

cd RTKinGSS

mkdir build && cd build

cmake ..

make

4)Test

cd ..

cd bin

./Rtk_gtsam

The test data file is in the data file folder.