[IEEE T-RO 2025] iKalibr: Multi-Sensor Calibration (Extrinsics & Time Offsets)

GNSS Quality Control & Post processing

动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库

Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM

kalmal filter localization

A software for scanning Rinex 2 and Rinex 3 files epochs and frequencies

This is an indoor positioning algorithm that integrates multiple sensors. After the paper is published and the patent is granted, the algorithm will be open source.

Visualization of vehicle position and pose estimation in Google Earth

RTStreamHub: A headless GNSS data streaming hub with NTRIP TLS support

Simple ntrip caster/client/server example programs, using the NTRIP2.0 protocol

GREAT-MSF Beta: Advanced GNSS/INS fusion system supporting PPP/RTK, multi-GNSS, custom IMU, fast initialization, and visualization. Future releases will integrate LiDAR, cameras, HD maps, UWB, whee…

OpenBLAS is an optimized BLAS library based on GotoBLAS2 1.13 BSD version.

a lightweight GPS NMEA 0183 parser library in pure C

Local RTK solution for LC29H

An EKF-based GNSS/INS Integrated Navigation Systems in Matlab (Matlab Version of KF-GINS)

Continuously Operating Reference Stations (CORS), provide network RTK differential service.

integrated navigation for ins and gnss

The Millipede NTRIP/RTK caster

"CLAS Test Library (CLASLIB)" is an open software tool to provide useful information for Centimeter-Level Augmentation Service (CLAS)

*UofC CSV2RINEX Convertor* : This piece of code is used to convert the GNSS logger output csv file (.txt) format to RINEX format (*.?o) ; Authors: Farzaneh Zangenehnejad and Yang Jiang from Dr. Yan…

Open dataset of GNSS and IMU for urban navigation

A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT).

A novel Real-time Kinematic positioning architecture with Enhanced Velocity Constraints (RTK-EVC) via Factor Graph Optimization in GNSS-challenged Environments.

Docker repository for BKG NTRIP Client (BNC)

BKG's reference NTRIP server with some useful tweaks

RINEX parsing, analysis and production

Convert from Google gnsslogger to standard RINEX 3.04 observation files for Android smartphones