Jason M Reich
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ESKF Docs
NavSol
Negative Results
NavSol
INSANE Dataset Guide
Orientation
Platform and Hardware Invariants
Frames, Conventions, and Units
Time, Clocks, and the GNSS-Time Trap
File Layout and Capability Matrix
Schema and Parsing Conventions
Sensors
IMUs
Magnetometers
Barometer
PX4 GPS
RTK GPS
Laser Range Finder
UWB
RealSense Odometry
Motor State
Motion Capture
Cameras
Calibration
Camera-LRF Extrinsic (Derived)
Source of Truth
Ground-Truth Products
Transition Handoff
Data Quality and Realism
Known Defects
Desirable Ugliness
Paper vs Data Contradictions
What Is Not in the Download
Maintainer-Generated Components
Per-Run Quick Reference
Initialization and Estimator Guidance
Ground-Truth Verification
Ground-Truth Reproduction
Ground-Truth Attitude Quality
Corrected Ground-Truth Smoother
Computer-Vision Feasibility Probe
Visual-Inertial Bundle Adjustment
Camera-LRF Calibration Tests
Navigation-State Estimator
Negative Results
Baseline ESKF
Conventions
Inputs
Synthetic GPS
Initialization
ESKF
Outputs
API
Groups
Types
NavSol
Negative Results
Negative Results
Move doc-content from root of NavSol to here when it is ready
Navigation-State Estimator
Baseline ESKF