# TGINS

**Repository Path**: peter_gitees/TGINS

## Basic Information

- **Project Name**: TGINS
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-11-09
- **Last Updated**: 2023-11-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# TGINS: Tightly couple GNSS/INS system,基于[RTKLIB](https://github.com/tomojitakasu/RTKLIB.git)修改的GNSS/INS紧组合代码

## 一. 支持功能
1. 继承[RTKLIB-demo5](https://github.com/rtklibexplorer/RTKLIB)
2. 支持GNSS/INS松组合
3. 支持GNSS/INS松组合RTS
4. 支持GPS PPK/INS半紧组合、紧组合
5. 支持GPS PPP/INS紧组合
6. **支持NED-FRD、ENU-RFU姿态定义的GNSS/INS松、紧组合**
7. 结果\误差可视化（FUSING-PLOT）

## 二. 结果示例
1. PPK/INS松组合（loosely coupled） <br>
   以[i2NAV](https://github.com/i2Nav-WHU/awesome-gins-datasets)公开数据集(ADIS16465)为例
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/att_err.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">ADIS16465松组合-位置、速度、姿态误差</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/bg.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/ba.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">ADIS16465松组合-陀螺、加计零偏</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/6465/stat_err.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">ADIS16465松组合-误差统计</div>
</center>
<center>
    <video width="520" height="440" controls>
    <source src="./doc/source/6465/all.mp4" type="video/mp4">
    </video>
</center>
  以2019-100C-北京数据集为例，IE后处理平滑结果作为参考 <br>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/att_err.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C松组合-位置、速度、姿态误差</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/bg.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/ba.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C松组合-陀螺、加计零偏</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/lc-obs/stat_err.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C松组合-误差统计</div>
</center>
<center>
    <video width="520" height="440" controls>
    <source src="./doc/source/100C/lc-obs/all.mp4" type="video/mp4">
    </video>
</center>
3. PPK/INS半紧组合 （semi-tightly coupled） <br>  
   以2019-100C-北京数据集为例，IE后处理平滑结果作为参考
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/stc-ppk/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/stc-ppk/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/stc-ppk/att_err.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C半紧组合-位置、速度、姿态误差</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/stc-ppk/stat_err.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C半紧组合-误差统计</div>
</center>
<center>
    <video width="520" height="440" controls>
    <source src="./doc/source/100C/stc-ppk/all.mp4" type="video/mp4">
    </video>
</center>

4. PPK/INS紧组合 （tightly coupled） <br>
   以2019-100C-北京数据集为例
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppk/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppk/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppk/att_err.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C PPK/INS紧组合-位置、速度、姿态误差</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppk/stat_err.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C PPK/INS紧组合-误差统计</div>
</center>
<center>
    <video width="520" height="440" controls>
    <source src="./doc/source/100C/tc-ppk/all.mp4" type="video/mp4">
    </video>
</center>

5. PPP/INS紧组合 （tightly coupled） <br>
   以2019-100C-北京数据集为例
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppp/pos_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppp/vel_err.png"
    width="350">
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppp/att_err.png"
    width="350">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C PPP/INS紧组合-位置、速度、姿态误差</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/100C/tc-ppp/stat_err.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">100C PPP/INS紧组合-误差统计</div>
</center>
<center>
    <video width="520" height="440" controls>
    <source src="./doc/source/100C/tc-ppp/all.mp4" type="video/mp4">
    </video>
</center>

## 三. 编译依赖 <br>
1. YAML(>=0.6)
2. Eigen(>=3.40)
3. 调试建议在ubuntu使用CLION，FUSING-PLOT运行可能需要依赖QT(>=5.15)

## 四. 数据准备 <br>
1. 可在配置文件中手动配置所需要的文件路径
2. 若自动匹配所需要的文件，则需要按一定结构存储所需要的观测文件和产品文件，只需在配置文件中配置主文件路径即可
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/dir/main_dir.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">主文件夹示例</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/dir/year_dir.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">year文件夹示例</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/dir/year_dir.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">doy文件夹示例</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/dir/obs_dir.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">obs文件夹示例</div>
</center>
<center>
    <img style="border-radius: 0.3125em;
    box-shadow: 0 2px 4px 0 rgba(34,36,38,.12),0 2px 10px 0 rgba(34,36,38,.08);" 
    src="./doc/source/dir/products_dir.png"
    width="520">
    <br>
    <div style="color:orange; border-bottom: 1px solid #d9d9d9;
    display: inline-block;
    color: #999;
    padding: 2px;">products文件夹示例</div>
</center>

## 五. 存在的问题
- [x] PPP/INS紧组合：ppp/ins紧组合算法已实现，可运行，基于rtklib的ppp算法需进一步的优化
- [x] 多星座GNSS：仅测试了单GPS，后续会支持多星座GNSS
- [x] 算法鲁棒性： 仅测试了两组数据验证算法的稳定性，后续会增加测试不同场景数据
- [x] 完善文档说明
- [x] ...

## 六. 说明
- [x] 代码质量和结构仍存在漏洞，仅作参考。
- [x] 代码会陆续更新，但需要一定时间，直至完全支持多星座多频PPP/INS、PPK/INS紧组合
- [x] 希望能做成一个有意义的项目，欢迎大家有数据的能够投喂，双天线/GNSS/INS/UWB/ODO/CAMERA/LiDAR/手机等、车载、机载、船载等,后续会继续上传一些车载GNSS/INS紧组合数据
- [x] 作者：黑娃（chenchaochn@163.com，安徽理工大学空间信息与测绘工程学院导航工程系）