carvig

Integrated navigation for INS/GNSS/vision for vehicle positioning

Introduction

CARVIG is an INS/GNSS integrated navigation algorithm library developed based on RTKLIB and written in C. It is designed for vehicle applications. It is currently being extended with INS/GNSS fusion algorithms that incorporate visual information and LiDAR, and these updates will be added gradually in the future.

CARVIG mainly includes the following functions:

1. INS/GNSS/VO loose-coupling algorithms;
2. SPP, PPP, DGPS, and tightly coupled RTK algorithms;
3. Odometer-assisted navigation;
4. Magnetometer-assisted navigation;
5. Motion constraints such as NHC, ZUPT, and ZARU;
6. Doppler-aided INS/GNSS;
7. Dual-antenna heading assistance;
8. Static and dynamic alignment initialization;
9. Forward and backward INS mechanization;
10. Forward and backward INS/GNSS integrated filtering;
11. Preliminary support for visual-information-assisted positioning and attitude determination;
12. RTS forward/backward smoothing;
13. RTK/INS/GNSS/VO post-processing;
14. Generation of simulated vehicle data for INS/GNSS (position)/VO;
15. Dynamic display of vehicle trajectories.

Configuration

Before processing data, CARVIG requires editing the relevant configuration files. The format of the configuration file can be referenced from the RTKLIB documentation.

Processing

By default, CARVIG processing results are stored in the directory of the executable file carvignav under the bin folder.

Build

CARVIG currently supports compilation only in a Linux environment. The process is the same as compiling a CMake project.

Run

Qt must be installed for plot functionality.

Run command: carvignav -o ../example/conf/navlib.conf -m 52716

References

[1] http://www.rtklib.com

[2] P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems

[3] Wuhan MAP Navigation Technology Co., Ltd., http://www.whmpst.com/cn/

[4] http://www.cvlibs.net/

Contact

Address: Satellite Navigation and Positioning Technology Research Center, Wuhan University, Su Jinglan

QQ: 1971129844

Email: sujinglan@whu.edu.cn

Note

If you need the professional version of CARVIG, please contact the author.