This project is according to the paper write by Skog ,the source code which is achived by Matlab you can find in there website[http:https://www.openshoe.org].I have just use cpp to achive it ,and add the ROS[http:https://www.ros.org] interface.

This Project contact server main module.

At this time,this part of code is only use to read data from csv format files,and publish it to the special topical named "imu1/data" and "imu2/data".

This module is use to recongnize the status of the imu(whether the velocity is zeor or not). I have achieved the GLRT method(but without any extract test).

This code is achived by python ,to use this code you need install numpy,scipy.I have tested this code by the data offer by Openshoe Matlab code package,and the accuracy is similar to the official version which achived by Matlab.

@article{Skog2012, author = {Skog, Isaac and Nilsson, John Olof and Zachariah, Dave and Handel, Peter}, doi = {10.1109/IPIN.2012.6418862}, isbn = {9781467319546}, journal = {2012 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2012 - Conference Proceedings}, keywords = {Constraints,Inertial navigation,Pedestrian navigation,Zero-velocity detection}, mendeley-groups = {IMU/Two-foot,IMU}, title = {{Fusing the information from two navigation systems using an upper bound on their maximum spatial separation}}, year = {2012} }