# i2Nav-WHU/KF-GINS

An EKF-Based GNSS/INS Integrated Navigation System

Repository: https://github.com/i2Nav-WHU/KF-GINS
Canonical: https://ross.abutalabs.com/products/kf-gins
Language: C++
License: GPL-3.0
License Family: copyleft
Last push: 2026-06-10T04:39:21+00:00

## Health v2 (maintenance only)
Score: 71/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 86, release rhythm 35, longevity 100
- inputs: {"age_days": 1418, "days_push": 84, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1186, forks 309 (observed 2026-08-28T04:03:55.016509+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, math, developer-tools
- domain: autonomous-vehicles, robotics, education
- platform: cpp, windows, cross-platform
- tags: gnss, ins, extended-kalman-filter, sensor-fusion, navigation, imu, strapdown, geodesy, algorithms, linux, macos

## Member repositories
- i2Nav-WHU/KF-GINS (main) score 71

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:55.016509+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:23:53.915755+00:00, confidence not recorded.
  - readme: https://github.com/i2Nav-WHU/KF-GINS (fetched 2026-08-28T04:03:55.016509+00:00, sha 00e5b4b0bad5)
- Data as of 2026-08-30T08:39:29.467469+00:00.