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Kai Chen(1,2), Chao Chen(1,2), Guobin Chang(1,2)
1 NASG Key Laboratory of Land Environment and Disaster Monitoring, China University of Mining and Technology, Xuzhou 221116, China
2 School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
The technical paper which describes this code was published in GPS Solutions, 25 (108), 2021, https://doi.org/10.1007/s10291-021-01144-9.
With the development of GNSS, many open-source software packages have become available for GNSS data processing. However, there are only a handful of open-source software that can handle GNSS/INS integrated data, even though GNSS/INS integration schemes have been widely used in vehicle navigation systems due to their high accuracy, stability, and continuity in harsh environments. Taking the above into account, we developed an open-source software, GINav, which focuses on the data processing and analysis of a GNSS/INS integrated navigation system. GINav is suitable for in-vehicle situations and is aimed at providing a useful tool for carrying out GNSS/INS-related research. It is a convenient platform for testing new algorithms and experimental functionalities. GINav is developed in the MATLAB environment. It provides a user-friendly graphical user interface (GUI) to facilitate users to learn how to use it quickly. A visualization tool, GINavPlot, is provided for solution presentation and error analysis. We have conducted experimental tests to validate and assess the performance of GINav. The results indicate that GINav can provide navigation solutions comparable to general GNSS/INS integration standards, and it can handle both suburban and urban GNSS/INS integrated datasets.
The code and sample data are available from the following link:
