{"repo":"ARYA-mgc/NavCore-Pixhawk","free":true,"listed":false,"github":"https://github.com/ARYA-mgc/NavCore-Pixhawk","clone":"git clone https://github.com/ARYA-mgc/NavCore-Pixhawk.git","description":"The estimated navigation solution is published to ArduPilot through the MAVLink External Navigation interface (VISION_POSITION_ESTIMATE), allowing EKF3 to fuse the companion computer's state estimate.","language":"Python","stars":23,"topics":["ardupilot","drones","ekf","gps-denied","imu","mavlink","navigation","pixhawk","python","raspberry-pi"],"license":"MIT","category":"self-hosted-apps","readme_excerpt":"NavCore-Pixhawk -- GPS-Aided INS with GPS-Denied Fallback for UAVs GPS-aided Inertial Navigation System with GPS-denied fallback capability for UAVs, using a Pixhawk Cube Orange and a Raspberry Pi 4 . Fuses IMU, baro, mag, GPS, VIO, lidar, and radar. When GPS is available it's used; when it dies, the INS keeps flying on its own. --- What is this? (Overview) NavCore-Pixhawk is the result of asking, \"What if the GPS dies and the drone panics?\" It implements a tightly-coupled Inertial Navigation System (INS) that fuses IMU, barometer, magnetometer, GPS, optical flow, VIO, lidar, and radar data. It uses a 21-state Error-State Quaternion EKF (ESKF) — state vector: position (3), velocity (3), quaternion (4), accel bias (3), gyro bias (3), barometer bias (1), receiver clock bias (1), clock drift (1), 2D wind (2) — with square-root covariance propagation (QR-factored Cholesky) , multi-IMU fusion , adaptive process noise , zero velocity updates (ZUPT) , barometric drift compensation , magnetometer auto-calibration , and optional tight GPS/INS coupling at the pseudorange level. We take these guesses and feed them back into ArduPilot's EKF3 as a fake GPS signal via VISION POSITION ESTIMATE . ArduPilot is happy, the drone flies, and we get to look like geniuses. --- Advanced Features We pushed the codebase beyond a simple Kalman Filter by adding advanced perception, fusion, and safety features: - Multi-IMU Fusion: Cube Orange has 3 IMUs (ICM-42688, ICM-20948, ICM-20649). All three are fu","default_branch":null,"files":null,"tree":[],"storefront":"/r/ARYA-mgc","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/ARYA-mgc/NavCore-Pixhawk/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}