TasFusion

TasFusion is a ROS1 package designed for multi-sensor navigation. Its core functionality provides a Ceres-based GNSS/IMU loosely coupled sliding-window optimization framework, along with supporting tools including GNSS message definitions, NLOS exclusion utilities, a NovAtel driver, and NMEA ROS parsing scripts.

The central sensor-fusion node supports IMU pre-integration, online bias estimation, marginalization to preserve historical information, and GPS position/velocity constraints. All major functions can be flexibly enabled or disabled through parameters configured in launch files.

Github Repository: https://github.com/PolyU-TASLAB/TasFusion.git

Reference Hardware Platform (Introduction Video):

TasFusion has been validated on GNSS-IMU-4G integrated navigation module (dual-IMU + u-blox F9P-04B + 4G uplink), providing high-frequency measurements and reliable telemetry for outdoor deployments.

For inquiries regarding this hardware platform, please contact hbwu@hkpolyu-wxresearch.cn.