inertial-navigation

C++ integrated navigation library. Inspired by Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Groves, P.

GPS-free iPhone driving prototype: speed from the road-bump echo between the axles, position from turn matching on offline maps (Kyiv, Lviv region). Noncommercial.

GPS-denied pedestrian dead reckoning: learned inertial velocity fused in a 2D error-state Kalman filter. SIH 2026 · SIH26168 · ISRO.

Header-only C++17/Eigen strapdown INS library: Initial alignment, Rodrigues DCM mechanization, Coriolis-compensated velocity integration, and Van Loan error covariance propagation.

Smartphone dead reckoning that survives GNSS loss. A 240 KB CNN reads vehicle speed out of phone IMU vibration and feeds a Kalman filter with its own uncertainty: 1.5% median drift over 600-850 m outages, 30/30 held-out rides under 10%. Android app, Python engine, and all 71 minutes of ride data. SIH 2026, Team OFFGRID.

GNSS-denied vehicle navigation: strapdown INS, 15-state error-state Kalman filter, and a drift benchmark. 5.36% to 0.22% drift over a 120s outage.

Open-source temperature-controlled MSPM0 + ICM-45686 IMU with CAN/UART and Windows Studio

NASA Space Apps Challenge 2016 — Regional Champion (Dhaka), Global Nominee. Inertial navigation device that tracks movement from a start point and backtracks the path when GPS and comms are unavailable.

Multisensor navigation and georeferencing using GNSS, INS and photogrammetry for trajectory estimation.

Why 84.4 minutes makes a pendulum immune to acceleration. An interactive, first-principles simulation of Schuler tuning and the error dynamics that make inertial navigation possible.

Reconstructing a walked path from a phone IMU alone, and measuring the inertial drift: 5.14 m over a 76.2 m loop-closed route

Python library for IMU processing: Initial alignment (gravity leveling, gyrocompassing), continuous attitude tracking via Rodrigues rotation, and DCM/Euler angle kinematics.

Offline Android navigation that keeps your position through GPS blackouts using phone sensors — physics-based dead reckoning (INS + EKF + ZUPT) with an on-device GRU (ONNX).

Header-only C++17/Eigen 15-state EKF for tightly-coupled UWB/IMU indoor positioning: ZUPT, magnetometer heading, height constraints, Joseph-form covariance updates.

Marine navigation for Rust: NMEA 0183/2000, AIS, GNSS, INS, COLREGs. no_std, no allocator, no unsafe, no panics.

no_std, allocation-free error-state Kalman filter (ESKF) for inertial navigation on UAVs and flight controllers. Fuses IMU with GNSS position, velocity and dual-antenna heading, course over ground, barometric altitude and magnetic heading. Validated on PX4 logs against EKF2.