Galileo

INSLIB is a portable C11 library for three-dimensional navigation state estimation. Its Kalman-filter core fuses inertial measurement data with GNSS/GPS, barometer, magnetometer, local-position, yaw, ground-speed, zero-velocity, and zero-rotation measurements to produce navigation states for drones, autonomous vehicles, robotics, aerospace, cars, embedded systems, and recorded-data post-processing. The dependency-free core uses no heap or operating-system dependencies and is designed for bare-metal microcontrollers and real-time control loops. It includes measurement-delay compensation, numerically robust UDU/Bierman-Thornton filtering, a lightweight World Magnetic Model for magnetic-declination correction, and an alternative attitude mode that can operate without a magnetometer. During GNSS outages, the parallel barometric-altitude channel can continue providing fused altitude and attitude estimates. The repository also provides Python bindings, replay and plotting tools, calibration utilities, a UDP live-data receiver, tutorials, example datasets, and support for correction sources including Galileo HAS, SPARTN/PointPerfect Flex, and RTK via NTRIP RTCM.

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