i2Nav-WHU/KF-GINS

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1186 stars · 309 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

KF-GINS is an open-source C++ implementation of an EKF-based GNSS/INS loosely-coupled integrated navigation system, developed by Wuhan University's i2Nav group as course support material. It fuses GNSS positioning results with IMU data using a 21-dimensional error-state Kalman filter with inertial navigation mechanization and error feedback.

Use cases

• fuse GNSS positions with IMU data using an extended Kalman filter
• learn GNSS/INS integrated navigation algorithms
• implement strapdown inertial navigation mechanization in C++
• estimate IMU bias and scale factor errors from GNSS updates
• prototype a loosely-coupled navigation solution for a vehicle or robot
• study a reference EKF error-state navigation implementation

When to choose

• you need a well-documented, academically referenced baseline for GNSS/INS loosely-coupled fusion
• you are teaching or learning inertial navigation and want code matching course material
• you want a clean C++/CMake codebase to extend with additional sensors or error states

When to avoid

• you need tightly-coupled raw pseudorange processing or multi-sensor (LiDAR/camera) fusion out of the box
• you need a production-grade, real-time certified navigation product
• you want a ready-to-use GUI application rather than an algorithmic codebase

Facets

library · maturity active

simulation math developer-tools autonomous-vehicles robotics education cpp windows cross-platform gnss ins extended-kalman-filter sensor-fusion navigation imu strapdown geodesy algorithms linux macos

Member repositories

For agents

markdown · JSON · MCP: product_card(name="i2Nav-WHU/KF-GINS")