TasFusion
ZHAO Jiaqi
January 17, 2026
A ROS1 package for Ceres-based GNSS/IMU loosely coupled sliding-window optimization, designed for robust multi-sensor navigation.
TasFusion provides a complete multi-sensor navigation framework with the following features:
- Ceres-based optimization — Sliding-window GNSS/IMU loosely coupled fusion with IMU pre-integration and online bias estimation
- Marginalization — Preserves historical information for consistent state estimation
- GPS constraints — Supports both position and velocity constraints from GNSS
- NLOS exclusion — Built-in utilities to reject non-line-of-sight satellite signals
- Flexible configuration — All major functions can be enabled/disabled via launch file parameters
- Supporting tools — Includes GNSS message definitions, a NovAtel driver, and NMEA ROS parsing scripts
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Reference Hardware Platform (Introduction Video): TasFusion has been validated on a 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 hardware inquiries, please contact hbwu@hkpolyu-wxresearch.cn.