jnz/INSLIB

Open Source Inertial Navigation Library

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[](https://github.com/jnz/INSLIB/actions/workflows/ci.yml) [](https://codecov.io/gh/jnz/INSLIB) [](https://github.com/jnz/INSLIB/releases) [](LICENSE) In action, fusing IMU measurements with Galileo HAS-corrected GPS/GNSS inputs: Test coverage of the core library (src/): Worst-case stack usage in bytes, deepest call chain including KFCore and the C library, from static analysis (make stack): Example video of pure inertial tracking with a TDK ICM-45686 low-cost Inertial Measurement Unit (IMU) INSLIB is a portable C library for 3D navigation state estimation. Its core is a set of Kalman filters fusing measurements from an inertial measurement unit (IMU) with GNSS/GPS measurements, barometer, magnetometer, local position references, absolute yaw references (GNSS compassing), scalar ground speed (wheel thicks) and zero-velocity / zero-rotation information. Typical use cases: The core library is written in pure C (C11), has no external dependencies and is optimized for embedded microcontrollers. A useful collection of Python helper programs and GUI apps are included in this repository. The Python binding is on PyPI: pip install…

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What this repository does

Open Source Inertial Navigation Library

Repository facts

Owner: jnz
Primary language: C
Stars: 475
Forks: 67
Open issues + pull requests: 0
License: AGPL-3.0
Archived: No
Default branch: main
Created: 2026-09-08T10:34:32.000Z
Last push: 2026-09-09T00:03:27.000Z

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