我的导航算法学习笔记，内容涵盖导航定位开源程序的源码解读、开源项目梳理、书籍讲义、博客翻译、教程讲座推荐；所有内容都可以随意转载，原始文件都放在这里了，大家可以在我的基础上整理出自己的一些文档。（Tips：①主要是写给初学者，已经有基础的同学应该多看论文和代码，看我的笔记学不到啥；②仓库持续更新中，不建议 fork）

• UpdatedJun 7, 2025

GNSS-SDR, an open-source software-defined GNSS receiver

• UpdatedFeb 19, 2026
• C++

Open-source GNSS + inertial navigation, sensor fusion simulator. Motion trajectory generator, sensor models, and navigation

• UpdatedNov 27, 2024
• Python

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

• UpdatedSep 11, 2021
• C++

IMU + X(GNSS, 6DoF Odom) Loosely-Coupled Fusion Localization based on ESKF, IEKF, UKF(UKF/SPKF, JUKF, SVD-UKF) and MAP

• UpdatedMar 28, 2025
• C++

Multi-Sensor Fusion (GNSS, IMU, Camera) 多源多传感器融合定位 GPS/INS组合导航 PPP/INS紧组合

• UpdatedSep 7, 2023
• C++

LILYGO LoRa Series examples

• UpdatedJan 27, 2026
• C

A version of RTKLIB optimized for low cost GNSS receivers, especially u-blox receivers. It is based on RTKLIB 2.4.3. This software is provided “AS IS” without any warranties of any kind so please be careful, especially if using it in any kind of real-time application. Click on the "Releases" label below to see the latest Windows pre-release.

• UpdatedJan 29, 2026
• C

Python Graphical GPS Client Application supporting NMEA, UBX, SBF, UNIU, QGC, RTCM3, NTRIP & SPARTN Protocols

• UpdatedFeb 18, 2026
• Python

Precise localization based on GNSS and IMU.

• UpdatedJan 22, 2026
• C++

Your own GNSS base station for RTK localization with a Web GUI

• UpdatedJan 12, 2026
• Python

Simple Python GNSS processing library

• UpdatedJan 21, 2026
• Python

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.

• UpdatedFeb 24, 2024
• MATLAB

A driving dataset for the development and validation of fused pose estimators and mapping algorithms

• UpdatedJul 20, 2025
• Jupyter Notebook

UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong

• UpdatedNov 21, 2021

Community list of open-source GNSS software and resources 📡

• UpdatedSep 26, 2025

Botletics SIM7000 LTE CAT-M1/NB-IoT Shield for Arduino

• UpdatedJan 9, 2026

integrated navigation for ins and gnss

• UpdatedDec 7, 2021
• C

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation

• UpdatedDec 27, 2023
• C

An open‑source software for Multi-GNSS PPP ambiguity resolution

• UpdatedFeb 11, 2026
• C