uwb-imu-positioning
Tightly-coupled integrated navigation system between UWB and IMU for UAV indoor localization
The FGO fusion part is written according to the paper
Tightly coupled integrated navigation system via factor graph for UAV indoor localization
Currently it provides loosely and tightly coupled FGO integration. More codes is coming....
Introduction
A ROS based library to perform localization for robot swarms using Ultra Wide Band (UWB) and Inertial Measurement Unit (UWB).
Features
- [x] beacon positioning with only UWB.
- [x] FGO localization algorithms that integrate UWB and IMU.
- [ ] Initialization with frame alignment and anchor refinement. Coming...
- [ ] EKF localization algotithms that integrate UWB and IMU. Coming...
1. Prerequisites
1.1 Ubuntu and ROS
1.2 Ceres Solver
Acknowledge
The Code is modified from the work done by Vins-mono and uwb-localization