RTK视觉惯性导航滑动窗滤波器框架方法_C++_源码_下载.zip

# RTK-Visual-Inertial-Navigation A Sliding Window Filter with GNSS-State Constraint for RTK-Visual-Inertial Navigation. [paper link]() Authors: Xiaohong Huang, Cui Yang **RTK-Visual-Inertial-Navigation** is a navigation system that tightly fuses GNSS, visual, and inertial measurements. It uses a sliding window filter (SWF) with GNSS-state constraints for sensor fusion. That is, the GNSS states (i.e., position, orientation, and velocity of the body and inertial biases at the time of capturing GNSS measurements) are retained in the SWF to construct more appropriate constraints between measurements and states. It also uses the parallel elimination strategy in a predefined elimination ordering, which can solve the Gauss-Newton problem and simultaneously obtain the covariance for ambiguity resolution. The system can perform the following types of navigation: - RTK-Visual-Inertial Navigation; - RTD-Visual-Inertial Navigation; - SPP-Visual-Inertial Navigation; - SPP-Visual-Inertial Navigation with Carrier-Phase Fusion - Visual-Inertial navigation. ## 1. Prerequisites ### 1.1 C++11 Compiler This package requires some features of C++11. ### 1.2 ROS This package is developed under [ROS Kinetic](http://wiki.ros.org/kinetic) environment. ### 1.3 Opencv 3 Our code uses [Opencv 3](https://github.com/opencv/opencv/tree/3.4) for image process. ## 2. Build RTK-Visual-Inertial-Navigation Clone the repository to your catkin workspace (for example `~/catkin_ws/`): ``` cd ~/catkin_ws/src/ git clone https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation.git ``` In our source code, we have developed our solving strategy based on [Ceres-Solver](http://ceres-solver.org/). The original version of [Ceres-Solver](http://ceres-solver.org/) is not satisfied for our project. To build the project, you need to build our modified Ceres-Solver with: ``` # CMake sudo apt-get install cmake # Eigen3 sudo apt-get install libeigen3-dev # Ceres-Solver-Modified cd ~/catkin_ws/src/RTK-Visual-Inertial-Navigation tar -xvf ceres-solver-modified.tar cd ceres-solver-modified/ sh build.sh ``` The modified version will only be installed in the workspace's folder. So you don't need to worry that the installation will change the settings of your computer.  Then build the package with: ``` cd ~/catkin_ws/ catkin_make ``` ## 3. Run RTK-Visual-Inertial-Navigation with our dataset Our equipment is shown as follows: A grayscale camera (MT9V034 752x480@25HZ), a MEMS-grade IMU (BMI088 400HZ), a $360^o$ prism, and a GNSS receiver (ublox ZED-F9P 10HZ) are installed together with a small GNSS antenna (BT-560). A Trimble S9 total station is installed in a fixed position and observes the prism to generate the ground truth of the rover station every 0.1 seconds with mm-level accuracy. A GNSS receiver (ublox ZED-F9P 1HZ) with an experimental-level antenna is installed in a fixed position for the base station.  The experiment environment is shown as follows.  Download our [Dataset](https://1drv.ms/f/s!ApdCy_pJvU0qyVsLB906CNjAEQiH) and launch the rviz via: ``` source ~/catkin_ws/devel/setup.bash roslaunch rtk_visual_inertial rtk_visual_inertial_rviz.launch ``` Open another terminal and run the project by: ``` source ~/catkin_ws/devel/setup.bash rosrun rtk_visual_inertial rtk_visual_inertial_node src/RTK-Visual-Inertial-Navigation/yaml/SETTING.yaml YOUR_BAG_FOLDER/BAG_NAME.bag ourput.csv ``` YOUR_BAG_FOLDER is the folder where you save our dataset. BAG_NAME is the name of our dataset. SETTING.yaml is the setting for RTK-Visual-Inertial-Navigation. You could use the following settings to perform different types of navigation. ``` rtk_visual_inertial_config.yaml     #RTK-Visual-Inertial-Navigation rtd_visual_inertial_config.yaml     #RTD-Visual-Inertial-Navigation spp_visual_inertial_config.yaml     #SPP-Visual-Inertial-Navigation spp_CP_visual_inertial_config.yaml  #SPP-Visual-Inertial-Navigation with carrier-phase fusion visual_inertial_config.yaml         #Visual-Inertial-Navigation ``` We have also provide a demo for evaluating the positioning errors (see [evaluate.py](https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation/blob/main/evaluate/evaluate.py)). ## 4. Run RTK-Visual-Inertial-Navigation in [Jetson-TX2](https://developer.nvidia.com/embedded/jetson-tx2) and [Orangepi5]([https://developer.nvidia.com/embedded/jetson-tx2](http://www.orangepi.cn/html/hardWare/computerAndMicrocontrollers/details/Orange-Pi-5.html)) We have provide a fast version of RTK-Visual-Inertial-Navigation in [RTK-Visual-Inertial-Navigation-JetsonTX2](https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation-JetsonTX2) and [RTK-Visual-Inertial-Navigation-Orangepi5](https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation-Orangepi5). The [RTK-Visual-Inertial-Navigation-JetsonTX2](https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation-JetsonTX2) is able to achieve real-time state estimation with a state update rate of 20~25Hz in Jetson-Tx2. And The [RTK-Visual-Inertial-Navigation-Orangepi5](https://github.com/xiaohong-huang/RTK-Visual-Inertial-Navigation-Orangepi5) is able to achieve real-time state estimation with a state update rate of 25Hz in Orangepi5.   ## 5. Acknowledgements The VIO framework is adapted from [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono). The Ceres-Solver-Modified is developed base on [Ceres-Solver](http://ceres-solver.org/). ## 6. Licence The source code is released under [GPLv3](https://www.gnu.org/licenses/gpl-3.0.html) license.