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

• beacon positioning with only UWB.
• 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

• Ubuntu 64-bit 18.04
• ROS Melodic. ROS INSTALLATION

1.2 Ceres Solver

• Ceres. Ceres INSTALLATION

Acknowledge

The Code is modified from the work done by Vins-mono and uwb-localization