INSLIB
Python binding of INSLIB, a portable C11 library for 3D navigation state estimation: a 15/18-state error-state Kalman filter fusing IMU, GNSS, magnetometer, barometer and local position, plus standalone AHRS/ARS attitude filters and a baro/accel vertical channel, run side by side with automatic mode arbitration.
The wheel ships the compiled C library, the Python side is a thin ctypes
layer over it, with no required dependencies.
Install
pip install inslib
Wheels exist for Linux x86_64, aarch64 and armv7l (64- and 32-bit Raspberry
Pi OS included), Windows x64 and ARM64, and macOS Intel and Apple silicon.
Anywhere else (a Pi Zero/1, for example), install from a checkout of the
repository with pip install -e python/, which needs a C compiler.
The import name is INSLIB.
Quick start
Roll and pitch from nothing but an IMU (gyroscope and accelerometer),
with the ARS attitude filter that runs inside every Navigator:
import math
import random
from INSLIB import Navigator
D2R = math.pi / 180.0
# Stand-in for a real sensor: an IMU resting at roll 10 deg, pitch -5 deg.
# Body frame FRD (front/right/down),
# accelerometer (acc) in m/s^2 (lying flat would read 0, 0, -9.81),
# gyroscope (gyr) in rad/s.
# A little noise is added here, like a real sensor.
def read_imu():
r, p, g = 10.0 * D2R, -5.0 * D2R, 9.81
acc = (g * math.sin(p), -g * math.sin(r) * math.cos(p),
-g * math.cos(r) * math.cos(p))
acc = [a + random.gauss(0.0, 0.02) for a in acc]
gyr = [random.gauss(0.0, 0.002) for _ in range(3)]
return acc, gyr
random.seed(1)
nav = Navigator()
dt = 0.01 # 100 Hz simulated data
for k in range(1, 501): # Simulate for 5 s
acc, gyr = read_imu()
nav.imu(int(k * dt * 1e6), dt, acc=acc, gyr=gyr)
nav.update() # Process data
rpy = nav.rpy_ars() # Get [roll, pitch, yaw] in rad
if rpy:
if k % 100 == 0:
print("t %.0f s roll %6.2f deg pitch %6.2f deg"
% (k * dt, rpy[0] / D2R, rpy[1] / D2R))
It prints:
t 1 s roll 9.97 deg pitch -4.98 deg
t 2 s roll 10.00 deg pitch -5.01 deg
t 3 s roll 10.03 deg pitch -5.02 deg
t 4 s roll 10.03 deg pitch -5.00 deg
t 5 s roll 10.04 deg pitch -4.99 deg
For your own sensor, replace read_imu() and pass its real time stamps.
More sensors are one call each: GNSS for position and velocity, a
magnetometer for a north-referenced heading, a barometer for height. The
Python tutorial
shows how.
Conventions: body frame FRD, navigation frame NED, Hamilton quaternion
[w, x, y, z], time in int64 microseconds, angles in radians.
Documentation
- Python tutorial
- API reference: every class, method and
Configfield - Manual (PDF)
- Changelog
The replay, post-processing GUI and calibration tools live in the
repository's tools/ directory, not in this package.
License
AGPL-3.0-or-later.
1 maintainer
Metadata
1 maintainer
Release files for INSLIB 1.4.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
Total release size: 1.5 MB
Release files / inslib-1.4.1-py3-none-win_arm64.whl
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