# PSINS-ROS

**Repository Path**: xingwanyong/PSINS-ROS

## Basic Information

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

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-05-18
- **Last Updated**: 2024-05-18

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Overview

  - A Precise Strapdown Inertial Navigation System (PSINS) C++ algorithm and Integrated Navigation (GNSS/INS/Odometry) algorithm based on adaptive Kalman Filter for ROS

## Usage

  ```
mkdir PSINS
cd PSINS
mkdir src
cd src
catkin_init_workspace
git clone https://github.com/BohemianRhapsodyz/PSINS-ROS.git
cd ..
catkin_make
source devel/setup.bash
roslaunch od_sins_realtime od_sins_realtime.launch
```

## Note

  - Replace your imu.txt path in file readimu.cpp
  - Check ROS topic imu/encoder/nav 
  - the file imu.txt provides a dataset of IMU/Odometry. You can test your own GNSS/IMU/Odometry dataset.

## Acknowledgement

  - This project is modified from PSINS C++ toolbox from Prof.Gongmin Yan of Northwestern Polytechnical University.