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1. Prerequisites

Click to expand the details

1.1 Ubuntu and ROS

Ubuntu 64-bit 16.04, ROS Kinetic. ROS Installation. We only test it on Ubuntu 16.04 with ROS Kinetic.

1.2. Ceres Solver

Follow the following instructions to install Ceres-solver instead of using the latest version of Ceres-solver.

Step 1: Download the Ceres-solver which is compatible with FGO-GNSSV3.0.

Step 2: make and install

sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# make Ceres-solver
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
sudo make -j4
sudo make test
sudo make install

1.3. Extra Libraries

sudo apt-get install ros-kinetic-novatel-msgs

2. Build

Clone the repository and catkin_make:

mkdir fgo_gnss/src
cd ~/fgo_gnss/src
mkdir result
git clone https://github.com/weisongwen/FGO-GNSS.git
cd ../
# if you fail in the last catkin_make, please source and catkin_make again
catkin_make
source ~/fgo_gnss/devel/setup.bash
catkin_make

(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)

3. Run GNSS positioning via dataset collected by the Huawei P40 Pro Phone (driving data)

Click to expand the details to replicate the result

Several parameters are as follows:

satellite system: GPS/BeiDou
Window Size: Batch

result is saved by default

~/fgo_gnss/src/global_fusion/FGO_trajectoryllh_psr_dop_fusion.csv

Solution to run the GNSS positioning Demo

source ~/fgo_gnss/devel/setup.bash

# run pseudorange and doppler fusion
roslaunch global_fusion psr_doppler_fusion.launch

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion dataHuaweiPro_TST20201113.launch

To evaluate the performance

source ~/fgo_gnss/devel/setup.bash
# read evaluation as follows
roslaunch global_fusion evo_HuaweiPhoneTST.launch

TST data collected by Huawei Phone: Red dots from WLS, purple curve from FGO

4. Run GNSS positioning via dataset collected by the Huawei P40 Pro Phone (walking data) via tightly coupled doppler factor

Several parameters are as follows:

satellite system: GPS/BeiDou
Window Size: Batch

result is saved by default

~/FGO_GNSS V3.0/src/global_fusion/FGO_trajectoryllh_psr_dop_fusion.csv

Before testing the HONG KONG data

go to modify the file src/FGO_GNSS_phase2/global_fusion/RTKLIB/src/pntpost.cpp as follows:

 line 563 # doppler residual  
 line 564 v[nv]=-lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);
 line 565 #v[nv]=lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);  #/* for 2022 SH & Xi'an data */

 line 766  if(gnss_raw.elevation>15 && gnss_raw.snr>15)
 #default value is 15

go to modify the file src/FGO_GNSS_phase2/global_fusion/include/gnss_estimator/doppler_factor.hpp as follows:

 line 93 #residuals[0] = (est_dop - doppler) / T(var); #// for huawei shanghai&xian dataset
 line 94 residuals[0] = (est_dop + doppler) / T(var); #// for huawei p40 phone and u-blox data 0.2 0.3

4.1 TST EAST (尖东) data

4.1.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

how to check

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the TST East(尖沙咀东) positioning Demo

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_fusion.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataP40_1_Bag_TST20210714.launch

Solution to run the TST East(尖沙咀东) positioning Demo using sliding window FGO

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataP40_1_Bag_TST20210714.launch

Solution to run the TST East(尖沙咀东) positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataP40_1_Bag_TST20210714.launch

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the TST_EAST folder

How to run ?

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the TST_EAST folder

The Specified folder

4.1.2 EKF node

Click to expand the details

Make sure there is not an exist file named EKF_trajectoryllh_psr_dop_fusion.csv, if there is, please delete it
Check the log path of EKF in FGO_GNSS_V3.0/src/global_fusion/src/gnss_estimator/psr_doppler_fusion_EKF.cpp line 544, Change the path to the one you want, but do not change the output file name, then compile the project

how to check

  cd ~/FGO_GNSS_V3.0
  catkin_make

EKF log path

Solution to run the TST East(尖沙咀东) positioning Demo (EKF) ekfpath

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_doppler_fusion_EKF.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataP40_1_Bag_TST20210714.launch

Cut EKF_trajectoryllh_psr_dop_fusion.csv to the TST_EAST folder

4.1.3 Evaluation

There are 3 files should be evaluated, while you want to evaluate the FGO, please follow this: 'sol_folder'= 'FGO_trajectoryllh_psr_dop_fusion','trajectory_path' = 'trajectory.csv', 'error_path' = 'error.csv'
For FGO evaluation:

FGO evaluation path - For EKF evaluation:

EKF evaluation path - For WLS evaluation:

WLS evaluation path

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_TST.launch

4.2 MANGKOK (旺角) data

4.2.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the MANGKOK (旺角) positioning Demo

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_fusion.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_MANGKOK.launch

Solution to run the MANGKOK (旺角) positioning Demo using sliding window FGO

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_MANGKOK.launch

Solution to run the MANGKOK (旺角) positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_MANGKOK.launch

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the WJ folder

4.2.2 EKF node

Click to expand the details

Make sure there is not an exist file named EKF_trajectoryllh_psr_dop_fusion.csv, if there is, please delete it
Check the log path of EKF in FGO_GNSS_V3.0/src/global_fusion/src/gnss_estimator/psr_doppler_fusion_EKF.cpp line 544, Change the path to the one you want, but do not change the output file name, then compile the project (If you have changed the log path, you can skip this step, but do not forget doing the first step)
```
  cd ~/FGO_GNSS_V3.0 
  catkin_make
```

EKF log path

Solution to run the the MANGKOK (旺角) positioning Demo (EKF) ekfpath

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_doppler_fusion_EKF.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_MANGKOK.launch

Cut EKF_trajectoryllh_psr_dop_fusion.csv to the WJ folder

4.2.3 Evaluation

Click to expand the details

Change the evo_WJ.launch for evaluation as 4.1.3

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_WJ.launch

4.3 Canton Road (广东道) data

4.3.1 FGO node

Click to expand the details

- Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the Canton Road (广东道) positioning Demo

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_fusion.launch

# run pseudorange and doppler fusion 
roslaunch global_fusion dataHUAWEI_GDD.launch

Solution to run the Canton Road (广东道) positioning Demo using sliding window FGO

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_GDD.launch

Solution to run the Canton Road (广东道) positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_GDD.launch

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the GDD folder

4.3.2 EKF node

Click to expand the details

- *Make sure there is ***not*** an exist file named **EKF_trajectoryllh_psr_dop_fusion.csv**, if there is, please delete it* - Check the log path of EKF in FGO_GNSS_V3.0/src/global_fusion/src/gnss_estimator/psr_doppler_fusion_EKF.cpp **line 544**, Change the path to the one you want, but do not change the output file name, then compile the project (**If you have changed the log path, you can skip this step, but do not forget doing the first step**) ```bash cd ~/FGO_GNSS_V3.0 catkin_make


<p align="center">
<img width="712pix" src="img/ekfpath.png">
</p>
<center> EKF log path</center>

- Solution to run the TST East(尖沙咀东) positioning Demo (EKF) ekfpath
```bash
source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_doppler_fusion_EKF.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_GDD.launch

Cut EKF_trajectoryllh_psr_dop_fusion.csv to the GDD folder

4.3.3 Evaluation

Click to expand the details

Change the evo_GDD.launch for evaluation as 4.1.3

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_GDD.launch

4.4 Tsuen Wan (荃湾) data

4.4.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the Tsuen Wan (荃湾) positioning Demo

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_fusion.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_QW.launch

Solution to run the Tsuen Wan (荃湾) positioning Demo using sliding window FGO

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_QW.launch

Solution to run the Tsuen Wan (荃湾) positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_QW.launch

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the QW folder

4.4.2 EKF node

Click to expand the details

Make sure there is not an exist file named EKF_trajectoryllh_psr_dop_fusion.csv, if there is, please delete it
Check the log path of EKF in FGO_GNSS_V3.0/src/global_fusion/src/gnss_estimator/psr_doppler_fusion_EKF.cpp line 544, Change the path to the one you want, but do not change the output file name, then compile the project (If you have changed the log path, you can skip this step, but do not forget doing the first step)
```
  cd ~/FGO_GNSS_V3.0 
  catkin_make
```

EKF log path

Solution to run the Tsuen Wan (荃湾) positioning Demo (EKF) ekfpath

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_doppler_fusion_EKF.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_QW.launch

Cut EKF_trajectoryllh_psr_dop_fusion.csv to the QW folder

4.4.3 Evaluation

Click to expand the details

Change the evo_GDD.launch for evaluation as 4.1.3

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_QW.launch

4.5 Campus (高层小区) data

4.5.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the Campus (高层小区) positioning Demo

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_fusion.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_CAMPUS.launch

Solution to run the Campus (高层小区) positioning Demo using sliding window FGO

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_CAMPUS.launch

Solution to run the Campus (高层小区) positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_CAMPUS.launch

Copy FGO_trajectoryllh_psr_dop_fusion.csv and WLS.csv to the CAMPUS folder

4.5.2 EKF node

Click to expand the details

Make sure there is not an exist file named EKF_trajectoryllh_psr_dop_fusion.csv, if there is, please delete it
Check the log path of EKF in FGO_GNSS_V3.0/src/global_fusion/src/gnss_estimator/psr_doppler_fusion_EKF.cpp line 544, Change the path to the one you want, but do not change the output file name, then compile the project (If you have changed the log path, you can skip this step, but do not forget doing the first step)
```
  cd ~/FGO_GNSS_V3.0 
  catkin_make
```

EKF log path

Solution to run the Campus (高层小区) positioning Demo (EKF) ekfpath

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_doppler_fusion_EKF.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_CAMPUS.launch

Cut EKF_trajectoryllh_psr_dop_fusion.csv to the CAMPUS folder

4.5.3 Evaluation

Click to expand the details

Change the evo_GDD.launch for evaluation as 4.1.3

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_CAMPUS.launch

5. Run GNSS positioning via dataset collected in Shang Hai via tightly coupled doppler factor

Several parameters are as follows:

satellite system: GPS/BeiDou

result is saved by default

~/FGO_GNSS V3.0/src/global_fusion/FGO_trajectoryllh_psr_dop_fusion.csv

Before testing the SHANG HAI's data

go to modify the file src/FGO_GNSS_phase2/global_fusion/RTKLIB/src/pntpost.cpp as follows:

 line 563 # doppler residual  
 line 564 #v[nv]=-lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);
 line 565 v[nv]=lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);  #/* for 2022 SH & Xi'an data */

 line 766  if(gnss_raw.elevation>15 && gnss_raw.snr>20)
 #default value is 15

go to modify the file src/FGO_GNSS_phase2/global_fusion/include/gnss_estimator/doppler_factor.hpp as follows:

 line 93 residuals[0] = (est_dop - doppler) / T(var); #// for huawei shanghai&xian dataset
 line 94 #residuals[0] = (est_dop + doppler) / T(var); #// for huawei p40 phone and u-blox data 0.2 0.3

5.1 ZLL data

5.1.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the ZLL positioning Demo using sliding window FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_ZLL.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220113.launch

Solution to run the ZLL positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220113.launch

How to run ?

The Specified folder

5.1.2 Evaluation

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_220113.launch

5.2 LJZLD data

5.2.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the LJJLD positioning Demo using sliding window FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_LJJLD.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220120_LJJLD.launch

Solution to run the LJJLD positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220120_LJJLD.launch

How to run ?

The Specified folder

5.2.2 Evaluation

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_220120_LJJLD.launch

5.3 WG data

5.3.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the WG positioning Demo using sliding window FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_WG.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220120_WG.launch

Solution to run the WG positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220120_WG.launch

How to run ?

The Specified folder

5.3.2 Evaluation

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_220120_WG.launch

5.4 NJDL data

5.4.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the NJDL positioning Demo using sliding window FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_NJDL.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220125_NJDL.launch

Solution to run the NJDL positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220125_NJDL.launch

How to run ?

The Specified folder

5.4.2 Evaluation

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_220125_NJDL.launch

5.5 YSTYG data

5.5.1 FGO node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the YSTYG positioning Demo using sliding window FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_YSTYG.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220125_YSTYG.launch

Solution to run the YSTYG positioning Demo using batch FGO aided by GNC

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_batch_GNC.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_220125_YSTYG.launch

How to run ?

The Specified folder

5.5.2 Evaluation

To evaluate the performance

source ~/FGO_GNSS V3.0/devel/setup.bash
# read evaluation as follows

roslaunch global_fusion evo_220125_YSTYG.launch

6. Run GNSS positioning via dataset MANGKOK (walking data) via SDM Factor & adaptive sliding windows

Before testing the Mangkok-3DMA data

go to modify the file src/FGO_GNSS_phase2/global_fusion/RTKLIB/src/pntpost.cpp as follows:

 line 563 # doppler residual  
 line 564 v[nv]=-lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);
 line 565 #v[nv]=lam*obs[i].D[0]-(rate+x[3]-CLIGHT*dts[1+i*2]);  #/* for 2022 SH & Xi'an data */

 line 766  if(gnss_raw.elevation>15 && gnss_raw.snr>15)
 #default value is 15

go to modify the file src/FGO_GNSS_phase2/global_fusion/include/gnss_estimator/doppler_factor.hpp as follows:

 line 93 #residuals[0] = (est_dop - doppler) / T(var); #// for huawei shanghai&xian dataset
 line 94 residuals[0] = (est_dop + doppler) / T(var); #// for huawei p40 phone and u-blox data 0.2 0.3

6.1 FGO-3DMA node

Click to expand the details

Check rtklib.h settings for visualization

settings for visualization

Check the rtklib.h settings

# if the rtklib.h for TST EAST data doesn't set as TST/Canton Road/Campus  P40 phone data, please change it as the figure
# Then compile the project again
  cd ~/FGO_GNSS_V3.0
  catkin_make

Solution to run the MANGKOK positioning Demo using sliding window FGO aided by 3DMA factor

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion psr_tcdoppler_sw_MK_3DMA.launch

# run pseudorange and doppler fusion
roslaunch global_fusion dataHUAWEI_MANGKOK.launch

Evaluation

source ~/FGO_GNSS V3.0/devel/setup.bash

# read GNSS raw data and publish as ROS topic
roslaunch global_fusion evo_WJ_3DMA.launch

7. Acknowledgements

We use Ceres-solver for non-linear optimization and RTKLIB for GNSS data decoding, etc. If there is any thing inappropriate, please contact me through 17902061r@connect.polyu.hk (Weisong WEN).

8. License

The source code is released under GPLv3 license. We are still working on improving the code reliability. For any technical issues, please contact Weisong Wen 17902061r@connect.polyu.hk. For commercial inquiries, please contact Li-ta Hsu lt.hsu@polyu.edu.hk.

Name		Name	Last commit message	Last commit date
Latest commit History 3 Commits
global_fusion		global_fusion
img		img
nlosExclusion		nlosExclusion
result		result
rviz_satellite		rviz_satellite
support_files		support_files
README.md		README.md

iGNSS/Collaborative_FGO

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1. Prerequisites

1.1 Ubuntu and ROS

1.2. Ceres Solver

1.3. Extra Libraries

2. Build

3. Run GNSS positioning via dataset collected by the Huawei P40 Pro Phone (driving data)

4. Run GNSS positioning via dataset collected by the Huawei P40 Pro Phone (walking data) via tightly coupled doppler factor

4.1 TST EAST (尖东) data

4.1.1 FGO node

4.1.2 EKF node

4.1.3 Evaluation

4.2 MANGKOK (旺角) data

4.2.1 FGO node

4.2.2 EKF node

4.2.3 Evaluation

4.3 Canton Road (广东道) data

4.3.1 FGO node

4.3.2 EKF node

4.3.3 Evaluation

4.4 Tsuen Wan (荃湾) data

4.4.1 FGO node

4.4.2 EKF node

4.4.3 Evaluation

4.5 Campus (高层小区) data

4.5.1 FGO node

4.5.2 EKF node

4.5.3 Evaluation

5. Run GNSS positioning via dataset collected in Shang Hai via tightly coupled doppler factor

5.1 ZLL data

5.1.1 FGO node

5.1.2 Evaluation

5.2 LJZLD data

5.2.1 FGO node

5.2.2 Evaluation

5.3 WG data

5.3.1 FGO node

5.3.2 Evaluation

5.4 NJDL data

5.4.1 FGO node

5.4.2 Evaluation

5.5 YSTYG data

5.5.1 FGO node

5.5.2 Evaluation

6. Run GNSS positioning via dataset MANGKOK (walking data) via SDM Factor & adaptive sliding windows

6.1 FGO-3DMA node

7. Acknowledgements

8. License

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