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| <div align="center"> | ||
| <a name="Top"></a> | ||
| <h1>Navigation-Learning：一个本科生的导航学习笔记</h1> | ||
| <p><strong>学习之路漫又长，唯有不断总结，不断回味，不断分享，才能成长！</strong></p> | ||
| </div> | ||
| <div align="center"> | ||
| <img alt="Static Badge" src="https://img.shields.io/badge/QQ-1482275402-red"> | ||
| <img alt="Static Badge" src="https://img.shields.io/badge/%E5%BE%AE%E4%BF%A1-lizhengxiao99-green"> | ||
| <img alt="Static Badge" src="https://img.shields.io/badge/Email-dauger%40126.com-brown"> | ||
| <a href="https://blog.csdn.net/daoge2666/"><img src="https://img.shields.io/badge/CSDN-论坛-c32136" /></a> | ||
| </div> | ||
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| <details> | ||
| <summary>🤺 【点击展开】欢迎随时与我交流：<strong>微信</strong> (lizhengxiao99)、<strong>QQ</strong> (1482275402)、<strong>Email</strong> ([email protected])；</summary> | ||
| <p> | ||
| <img align="center" width="350" src="https://pic-bed-1316053657.cos.ap-nanjing.myqcloud.com/img/662bf58e5529e6a138945e9ffc90893e.png" alt="662bf58e5529e6a138945e9ffc90893e" /> | ||
| <img align="center" src="https://pic-bed-1316053657.cos.ap-nanjing.myqcloud.com/img/%E5%AF%BC%E8%88%AA%E5%AE%9A%E4%BD%8D%E7%AE%97%E6%B3%95%E5%AD%A6%E4%B9%A0%E7%AC%94%E8%AE%B0%E5%88%86%E4%BA%AB.png" /> | ||
| </p> | ||
| </details> | ||
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| <div align="center"> | ||
| <h3>👇 以下是本仓库包含的板块，点击跳转 👇</h3> | ||
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| | 🌟 板块 🌟 | 🧾 说明 🧾 | 🛠 完成度 🛠 | | ||
| | :---------------------------------------------: | :----------------------------------------------------------: | :----------------------------------------------------------: | | ||
| | <a href="#Code">**源码解读**</a> | 我对程序的解读，附上流程图、思维导图、相关资料 | <Strong>【\=\=\=\=\> 】</Strong>40% | | ||
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| | 🌟 开源程序 🌟 | 🧾 简介 🧾 | 🛠 完成度 🛠 | | ||
| | :---------------------------------------------: | :------------------------------: | :----------------------------------------------------------: | | ||
| | <a href="#RTKLIB">**RTKLIB**</a> | 最知名的 GNSS 数据处理程序 | <Strong>【\=\=\=\=\=\=\> 】</Strong>60% | | ||
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| | 🌟 开源项目 🌟 | 🧾 简介 🧾 | 更新 | | ||
| | :----------------------------------------------------------: | :----------------------------------------------------------: | :--: | | ||
| | **[GitHub-Chinese-Top-Charts](https://github.com/GrowingGit/GitHub-Chinese-Top-Charts)** | GitHub 中文资料排行榜 | √√√ | | ||
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| | 类型 | 项目/网址 | | ||
| | :----------------------------------------------------------: | :----------------------------------------------------------: | | ||
| | [**GNSS 数据处理**](导航定位建图开源项目记录.md#GNSS) | **[RTKLIB](https://www.rtklib.com/)**、[RTKLIB-Demo5](https://github.com/rtklibexplorer/RTKLIB)、[learning_rtklib](https://github.com/LiZhengXiao99/learning_rtklib)、[rtklib-py](https://github.com/rtklibexplorer/rtklib-py)、[pyrtklib](https://github.com/IPNL-POLYU/pyrtklib)、[GPS-RTKLIB-ARM-F407VG](https://github.com/ngochieu642/GPS-RTKLIB-ARM-F407VG)、[MALIB](https://github.com/JAXA-SNU/MALIB)、[MatRTKLIB](https://github.com/taroz/MatRTKLIB)、[Taroz-gsdc2023](https://github.com/taroz/gsdc2023)、[CSSRLib](https://github.com/hirokawa/cssrlib)、[rtklib_ros_bridge](https://github.com/MapIV/rtklib_ros_bridge)、[FiPPP](https://github.com/HuChao-gnss/FiPPP)、[rtkrcv_ros](https://github.com/ajbfinesc/rtkrcv_ros)、**[GAMP](https://geodesy.noaa.gov/gps-toolbox/GAMP.htm)**、[GAMPII-GOOD](https://github.com/zhouforme0318/GAMPII-GOOD)、**[Ginan](https://github.com/GeoscienceAustralia/ginan)**、**[goGPS](https://github.com/goGPS-Project/goGPS_MATLAB)**、[goGPS_Java](https://github.com/goGPS-Project/goGPS_Java)、[BNC](https://igs.bkg.bund.de/ntrip/bnc)、[GREAT-PVT](https://github.com/GREAT-WHU/GREAT-PVT)、[GFZRNX](https://dataservices.gfz-potsdam.de/panmetaworks/showshort.php?id=escidoc:1577894)、[GNSSLogger](https://github.com/google/gps-measurement-tools)、[georinex](https://github.com/geospace-code/georinex)、[GAMIT/GLOBK](http://geoweb.mit.edu/gg/)、[GraphGNSSLib](https://github.com/weisongwen/GraphGNSSLib)、[NavCodeMonitor](https://github.com/weisongwen/NavCodeMonitor)、[Net_Diff](https://github.com/YizeZhang/Net_Diff)、[laika](https://github.com/commaai/laika)、[CSRS-PPP](https://webapp.csrs-scrs.nrcan-rncan.gc.ca/geod/tools-outils/ppp.php)、[POSGO](https://github.com/lizhengnss/POSGO)、[Pride-PPPAR](https://github.com/PrideLab/PRIDE-PPPAR)、[PPPwizard](http://www.ppp-wizard.net/)、[GPSTk](https://github.com/SGL-UT/GPSTk)、[gnsstk](https://github.com/SGL-UT/gnsstk)、[gnsstk-apps](https://github.com/SGL-UT/gnsstk-apps)、[G-NUT/Anubis](https://www.pecny.cz/Joomla25/index.php/gnss/sw/anubis)、[Teqc](https://www.unavco.org/software/data-processing/teqc/teqc.html)、[RNXQCE](https://github.com/cuizilu/RNXQCE)、[Bernese](https://www.bernese.unibe.ch/)、[gLAB](https://github.com/valgur/gLAB?tab=readme-ov-file)、[Look4Sat](https://github.com/rt-bishop/Look4Sat)、[RobustGNSS](https://github.com/wvu-navLab/RobustGNSS)、[ntrip](https://github.com/sevensx/ntrip)、[rtcm](https://github.com/Node-NTRIP/rtcm)、[cors](https://github.com/Erensu/cors)、[VrsCaster](https://github.com/DoubleString/VrsCaster)、[gstream](https://github.com/Jin-Whu/gstream)、[ogrp](https://github.com/Fraunhofer-IIS/ogrp)、[centipede](https://github.com/CentipedeRTK/centipede)、[TouchRTKStation](https://github.com/taroz/TouchRTKStation)、[rtkbase](https://github.com/Stefal/rtkbase)、[GREAT-IFCB](https://github.com/GREAT-WHU/GREAT-IFCB)、[gnss_comm](https://github.com/HKUST-Aerial-Robotics/gnss_comm)、[PPP-BayesTree](https://github.com/wvu-navLab/PPP-BayesTree)、[gnsspy](https://github.com/GNSSpy-Project/gnsspy)、[gnssgo](https://github.com/FengXuebin/gnssgo)、[raPPPid](https://github.com/TUW-VieVS/raPPPid)、[gnss-compass-ros](https://github.com/MapIV/gnss_compass_ros)、[gnss-attitude](https://github.com/low-earth-orbit/gnss-attitude)、[FCB-FILES](https://github.com/FCB-SGG/FCB-FILES)、[MG_APP](https://github.com/XiaoGongWei/MG_APP)、[gps_amcl](https://github.com/midemig/gps_amcl)、[deep_gnss](https://github.com/Stanford-NavLab/deep_gnss)、[TSAnalyzer](https://github.com/wudingcheng/TSAnalyzer)、[GNSS-TimeSeries-Viewers](https://github.com/kmaterna/GNSS_TimeSeries_Viewers)、[RTKinGSS](https://github.com/shaolinbit/RTKinGSS)、[gnss_lib_py](https://github.com/Stanford-NavLab/gnss_lib_py)、[PNT-Integrity](https://github.com/cisagov/PNT-Integrity)、[GORS](https://github.com/lengyanyanjing/GORS)、[GDDS](https://geodesy.noaa.gov/gps-toolbox/gdds.shtml)、[FAST](https://github.com/ChangChuntao/FAST)、[QGOPDD](https://github.com/yhw605/QGOPDD)、[gnss-downloader](https://github.com/Mereithhh/gnss-downloader)、[groops](https://github.com/groops-devs/groops)、[georb](https://github.com/Thomas-Loudis/georb)、[madocalib](https://github.com/QZSS-Strategy-Office/madocalib)、[OREKIT](https://link.zhihu.com/?target=https%3A//www.orekit.org/)、[rt-clk-service](https://github.com/DoubleString/rt-clk-service)、[polaris](https://github.com/PointOneNav/polaris)、[gnss-tec](https://github.com/gnss-lab/gnss-tec)、[utm](https://github.com/sfegan/utm)、[PW-from-GPS](https://github.com/ZiskinZiv/PW_from_GPS)、[GNSS-Multipath-Analysis-Software](https://github.com/paarnes/GNSS_Multipath_Analysis_Software)、[gnss-multipath-detector](https://github.com/EvgeniiMunin/gnss-multipath-detector)、[GNSS-Shadowing](https://github.com/xaedes/GNSS-Shadowing)、[gnssIR-python](https://github.com/kristinemlarson/gnssIR_python)、[GARNO](https://github.com/geoios/GARNO)、[GPSPACE](https://github.com/CGS-GIS/GPSPACE)、[GNSSDataQC](https://github.com/GNSS-FUN/GNSSDataQC)、[gnssr-synth](https://github.com/purnelldj/gnssr_synth)、[gnssIR-matlab-v3](https://github.com/kristinemlarson/gnssIR_matlab_v3)、[gnssrefl](https://github.com/kristinemlarson/gnssrefl)、[gnss2tws-green](https://github.com/jzshhh/gnss2tws_green)、[gnssSNR](https://github.com/kristinemlarson/gnssSNR)、[mphw](https://github.com/fgnievinski/mphw)、[hgpt_model](https://github.com/pjmateus/hgpt_model)、[GNSSR_MERRByS](https://github.com/pjalesSSTL/GNSSR_MERRByS)、[PyGPSClient](https://github.com/semuconsulting/PyGPSClient)、[STM32Primer2-GNSS-Tracker](https://github.com/nemuisan/STM32Primer2_GNSS_Tracker)、[STM32-GNSS](https://github.com/SimpleMethod/STM32-GNSS)、[GNSSTimeServer](https://github.com/Montecri/GNSSTimeServer)、[GNSS_Clock](https://github.com/stevemarple/GNSS_Clock)、[AgOpenGPS](https://github.com/farmerbriantee/AgOpenGPS)、[nmea-msgs](https://github.com/ros-drivers/nmea_msgs)、[LilyGo-LoRa-Series](https://github.com/Xinyuan-LilyGO/LilyGo-LoRa-Series)、[HASlib](https://github.com/nlsfi/HASlib)、[HASPPP](https://github.com/ZhangRunzhi20/HASPPP)、[OSNMA](https://github.com/Algafix/OSNMA)、[galileo-osnma](https://github.com/daniestevez/galileo-osnma)、[GNSSAMS](https://github.com/GanAHE/GNSSAMS)、[geodetic_utils](https://github.com/ethz-asl/geodetic_utils)、[ppp-tools](https://github.com/aewallin/ppp-tools)、[gpstest](https://github.com/barbeau/gpstest)、[iSniff-GPS](https://github.com/hubert3/iSniff-GPS)、[hypatia](https://github.com/snkas/hypatia)、[gps-measurement-tools](https://github.com/google/gps-measurement-tools)、[FE-GUT](https://github.com/zhaoqj23/FE-GUT)、[gnss-RX](https://github.com/HeryMwenegoha/gnss-RX)、[Pypredict](https://github.com/spel-uchile/Pypredict)、[novatel-gps-driver](https://github.com/swri-robotics/novatel_gps_driver)、[GNSSAMS](https://github.com/GanAHE/GNSSAMS)、[GNSS-Radar](https://github.com/taroz/GNSS-Radar)、[geodesy_modeling](https://github.com/kmaterna/geodesy_modeling)、[gnss-odometry](https://github.com/mgoar/gnss-odometry)、[Caster_Project](https://github.com/KOROyo123/Caster_Project)、[rviz_satellite](https://github.com/nobleo/rviz_satellite)、[gnatss](https://github.com/seafloor-geodesy/gnatss)、[gnssr_lowcost](https://github.com/purnelldj/gnssr_lowcost)、[satellite-position-calculation-mapping](https://github.com/egemengulpinar/satellite-position-calculation-mapping)、[SatellitePosition](https://github.com/LStudioLoren/SatellitePosition)、[GNSSTool](https://github.com/quectel-open-source/GNSSTool)、[pynex](https://github.com/swift-nav/pynex)、[pygnssutils](https://github.com/semuconsulting/pygnssutils)、[flipperzero-gps](https://github.com/ezod/flipperzero-gps)、[ROS-GPS](https://github.com/sigmaai/ROS-GPS)、[rtk-rs](https://github.com/rtk-rs)、[ge-gnss-visibility](https://github.com/taroz/ge-gnss-visibility)、[OpenRTK](https://github.com/AndreasArendt/OpenRTK)、[GNSS_RTK](https://github.com/SupakunZ/GNSS_RTK)、[LEOGPS](https://github.com/sammmlow/LEOGPS)、[GPSToolbox 投稿](https://geodesy.noaa.gov/gps-toolbox/exist.htm)、[barbeau-awesome-gnss 整理](https://github.com/barbeau/awesome-gnss)、[hdkarimi-awesome-gnss 整理](https://github.com/hdkarimi/awesome-gnss)、[mcraymer 整理](https://mcraymer.github.io/geodesy/index.html)、[Awesome-Geospatial 整理](https://github.com/sacridini/Awesome-Geospatial)、[GISResourcce 整理](https://gisresources.com/) | | ||
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| | 类型 | 网址 | | ||
| | :------------------: | :----------------------------------------------------------: | | ||
| | 中文期刊 | [测绘学报](http://xb.chinasmp.com/CN/1001-1595/home.shtml)、[武汉大学学报（信息科学版）](http://ch.whu.edu.cn/)、[测绘地理信息](http://chdlxx.whu.edu.cn/homeNav?lang=zh)、[电子学报](https://www.ejournal.org.cn/CN/home)、[遥感学报](https://www.ygxb.ac.cn/)、[地理学报](https://www.geog.com.cn/)、[地理科学进展](https://www.progressingeography.com/)、[科学通报](https://www.sciengine.com/CSB/home?slug=abstracts&abbreviated=scp)、[现代测绘](http://www.xdchzz.cn/)、[测绘工程](https://www.xueshu.com.cn/cehgc/)、[测绘通报](http://tb.chinasmp.com/CN/0494-0911/home.shtml)、[信号处理](https://signal.ejournal.org.cn/)、[中国惯性技术](http://www.zggxjsxb.com/CN/1005-6734/home.shtml)、[地球物理学报](http://www.geophy.cn/)、[大地测量与地球动力学](http://www.jgg09.com/CN/volumn/current.shtml)、[全球定位系统](http://www.qqdwxt.cn/)、[导航定位学报](https://dhdwxb.chinajournal.net.cn/WKC/WebPublication/index.aspx?mid=chwz)、[地理空间信息](https://dxkj.chinajournal.net.cn/WKE2/WebPublication/index.aspx?mid=DXKJ)、[海洋预报](http://www.hyyb.org.cn/)、[仪器仪表学报](http://yqyb.etmchina.com/yqyb/home)、[导航定位与授时](http://pnt.ijournals.cn/dhdwyss/ch/index.aspx)、[地球科学与环境学报](http://jese.chd.edu.cn/)、[弹箭与制导学报](https://djzd.cbpt.cnki.net/WKD3/WebPublication/index.aspx?mid=djzd)、[微电子与计算机](http://www.journalmc.com/)、[西北工业大学学报](https://journals.nwpu.edu.cn/xbgydxxb/CN/volumn/current.shtml)、[宇航学报](https://www.yhxb.org.cn/homeNav?lang=zh)、[仪表技术与传感器](http://www.17sensor.com/#/)、[测控技术](http://ckjs.ijournals.cn/ckjs/ch/index.aspx)、[系统仿真学报](https://www.china-simulation.com/CN/1004-731X/home.shtml)、[航天控制](http://htkz.magtechjournal.com/CN/home)、[兵工自动化](http://bgzdh.ijournals.com.cn/bgzdh/home)、[光学学报](https://www.opticsjournal.net/Journals/gxxb.cshtml)、[中国激光](https://www.opticsjournal.net/Journals/zgjg.cshtml)、[光电子激光](http://www.joelcn.com/ch/index.aspx) | | ||
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| | 工具 | 开发者 | 简介 | 账号 | | ||
| | :----------------------------------------------------------: | :--------: | :----------------------------------------------------------: | :--- | | ||
| | **[GNSS-Calendar](https://www.gnsscalendar.com/)** | Enes·Jahic | 在日历上选择年月日，可以转换到年积日、儒略日、GPS周、周内天，并且提供 GPS 和 GLONASS 的精密轨道钟差、SNX、ION、DCB 文件的下载链接。 | 无需 | | ||
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| <p align="center" > 👆👆👆 <a href='https://pan.baidu.com/s/1JQZ3-dOfKagTWnbeThFuow?pwd=aust' target='_blank'>百度网盘链接</a> or <a href="#Top">回到开头</a> 👆👆👆</p> | ||
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| <p align="center" > 👆👆👆 <a href="#Top">回到开头</a> 👆👆👆</p> | ||
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| <p align="center" > 👆👆👆 <a href="#Top">回到开头</a> 👆👆👆</p> | ||
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| ### <a name="RTKLIB">01-RTKLIB：最知名的 GNSS 数据处理程序</a> | ||
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| RTKLIB 是全球导航卫星系统 GNSS 开源定位解算程序包，由日本东京海洋大学的高须知二（Tomoji Takasu）开发，由一个**核心程序库**和多个**命令行程序**、**界面程序**组成；代码规范、功能完善、可拓展性好。RTKLIB 功能很齐全，GNSS 数据处理所需的基本功能都有，支持的数据格式很多，既可以实时解算也可以后处理，既可以接自己的 GNSS 模块也可以连 IGS 的数据流，既可以解算自己采集的数据也可以算 IGS 测站的数据，既可以 RTK 也可以 PPP；许多 GNSS 导航定位程序开源程序都是基于 RTKLIB 二次开发衍生而来，适合作为 GNSS 入门学习的项目。它的项目结构如下所示： | ||
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| ### <a name="GAMP">02-GAMP：基于 RTKLIB 的后处理双频 PPP</a> | ||
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| <a href="#Top">回到开头</a> | ||
| 👆👆👆 | ||
| </p> | ||
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| 👆👆👆 | ||
| </p> | ||
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| ### <a name="Ginan">04-Ginan：澳大利亚 PPP 定位/定轨程序</a> | ||
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| 👆👆👆 | ||
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| ### <a name="SoftGNSS">05-SoftGSS：MATLAB GPS L1-C/A 码软件接收机</a> | ||
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| 👆👆👆 | ||
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| ### <a name="PSINS">06-PSINS：MATLAB-C++ 捷联惯导工具箱</a> | ||
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@@ -1297,6 +1306,7 @@ PSINS（**P**recise **S**trapdown **I**nertial **N**avigation **S**ystem 高精 | |
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| ### <a name="GINAV"> 07-GINAV：GNSS-INS Matlab 工具箱</a> | ||
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@@ -1321,6 +1331,7 @@ GINav 是 2020 年发布在 GPS Solution 上开源 GNSS/INS 紧组合工具箱 | |
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| ### <a name="KF-GINS">08-KF-GINS：GNSS/INS-EKF 松组合例程</a> | ||
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@@ -1344,6 +1355,7 @@ KF-GINS 是武大 i2Nav 实验室开源的一套松组合导航程序；可以 | |
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| ### <a name="OB-GINS">09-OB-GINS：GNSS/INS-FGO 松组合 Demo</a> | ||
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| ### <a name="POSGO">10-POSGO：图优化 GNSS 伪距定位</a> | ||
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@@ -1390,6 +1403,7 @@ POSGO，全称 POSition based on Graph Optimization，是由武汉大学 GNSS | |
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| ### <a name="GICI-LIB">11-GICI-LIB：GNSS+INS+Camera 图优化融合定位</a> | ||
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@@ -1422,6 +1436,7 @@ GICI-LIB 全称 **G**NSS/**I**NS/**C**amera **I**ntegrated Navigation Library， | |
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| ### <a name="VINS">12-VINS：光流法视觉惯性 SLAM</a> | ||
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@@ -1446,6 +1461,7 @@ GICI-LIB 全称 **G**NSS/**I**NS/**C**amera **I**ntegrated Navigation Library， | |
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| ### <a name="ORB-SLAM3">13-ORB-SLAM3：特征点法视觉惯性图优化 SLAM</a> | ||
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@@ -1466,6 +1482,7 @@ ORB-SLAM3 是**迄今为止，最完整的视觉惯性 SLAM 系统系统**，它 | |
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| ### <a name="ROS-Navigation">14-ROS导航功能包：自主导航机器人定位/建图/路径规划</a> | ||
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@@ -1486,6 +1503,7 @@ ORB-SLAM3 是**迄今为止，最完整的视觉惯性 SLAM 系统系统**，它 | |
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| 最后，如果你有问题、有建议、有想法；如果你入门导航算法过程中遇到了困难、找不准方向；或者说你认可我的仓库，单纯地想交个朋友，都欢迎你加我的微信，和我联系，记得备注 `学校+姓名`，让我知道你是谁。 | ||
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