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1. KF-GINS KF-GINS Public

   An EKF-Based GNSS/INS Integrated Navigation System

   C++ 724 225

2. OB_GINS OB_GINS Public

   An Optimization-Based GNSS/INS Integrated Navigation System

   C++ 520 162

3. IC-GVINS IC-GVINS Public

   A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System

   C++ 513 116

4. Wheel-INS Wheel-INS Public

   A wheel-mounted MEMS IMU-based dead reckoning system.

   C++ 334 64

5. FF-LINS FF-LINS Public

   A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator

   C++ 166 24

6. LE-VINS LE-VINS Public

   INS-Centric Visual-Inertial Navigation System With LiDAR Enhancement

   C++ 111 8