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@Erensu
Erensu committed Nov 10, 2018
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31 changes: 31 additions & 0 deletions CMakeLists.txt
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PROJECT(carvig)

CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
CMAKE_POLICY(SET CMP0015 NEW)

SET(CMAKE_CXX_STANDARD 11)
SET(CMAKE_BUILD_TYPE Debug)

SET(CMAKE_CXX_FLAGS "-std=c++11 -O0 -fPIC")
SET(CMAKE_CXX_FLAGS "-msse3")
SET(CMAKE_C_FLAGS "-msse3")
SET(CMAKE_C_FLAGS "-mavx")

IF("${CMAKE_BUILD_TYPE}" STREQUAL "")
SET(CMAKE_BUILD_TYPE "Release")
ENDIF()

INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/include)

FILE(GLOB SRC_FILES "src/ins-gnss/*.cc" "src/ins-gnss/rcv/*.cc")

ADD_LIBRARY(carvig ${SRC_FILES})
TARGET_LINK_LIBRARIES(carvig blas lapack z)

SET_TARGET_PROPERTIES(carvig PROPERTIES ARCHIVE_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/lib)

SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)



4 changes: 4 additions & 0 deletions README.md
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# carvig
integrated navigation for ins/gnss/vision for vehicle positioning


1,740 changes: 1,740 additions & 0 deletions data/geomag/IGRF12.COF

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91 changes: 91 additions & 0 deletions data/geomag/WMM2015.COF
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WMM-2015 2015.00 12 12 0 2014.75 2020.00 -1.0 600.0 WMM-2015 0
1 0 -29438.50 0.00 10.70 0.00 WMM-2015 1
1 1 -1501.10 4796.20 17.90 -26.80 WMM-2015 2
2 0 -2445.30 0.00 -8.60 0.00 WMM-2015 3
2 1 3012.50 -2845.60 -3.30 -27.10 WMM-2015 4
2 2 1676.60 -642.00 2.40 -13.30 WMM-2015 5
3 0 1351.10 0.00 3.10 0.00 WMM-2015 6
3 1 -2352.30 -115.30 -6.20 8.40 WMM-2015 7
3 2 1225.60 245.00 -0.40 -0.40 WMM-2015 8
3 3 581.90 -538.30 -10.40 2.30 WMM-2015 9
4 0 907.20 0.00 -0.40 0.00 WMM-2015 10
4 1 813.70 283.40 0.80 -0.60 WMM-2015 11
4 2 120.30 -188.60 -9.20 5.30 WMM-2015 12
4 3 -335.00 180.90 4.00 3.00 WMM-2015 13
4 4 70.30 -329.50 -4.20 -5.30 WMM-2015 14
5 0 -232.60 0.00 -0.20 0.00 WMM-2015 15
5 1 360.10 47.40 0.10 0.40 WMM-2015 16
5 2 192.40 196.90 -1.40 1.60 WMM-2015 17
5 3 -141.00 -119.40 0.00 -1.10 WMM-2015 18
5 4 -157.40 16.10 1.30 3.30 WMM-2015 19
5 5 4.30 100.10 3.80 0.10 WMM-2015 20
6 0 69.50 0.00 -0.50 0.00 WMM-2015 21
6 1 67.40 -20.70 -0.20 0.00 WMM-2015 22
6 2 72.80 33.20 -0.60 -2.20 WMM-2015 23
6 3 -129.80 58.80 2.40 -0.70 WMM-2015 24
6 4 -29.00 -66.50 -1.10 0.10 WMM-2015 25
6 5 13.20 7.30 0.30 1.00 WMM-2015 26
6 6 -70.90 62.50 1.50 1.30 WMM-2015 27
7 0 81.60 0.00 0.20 0.00 WMM-2015 28
7 1 -76.10 -54.10 -0.20 0.70 WMM-2015 29
7 2 -6.80 -19.40 -0.40 0.50 WMM-2015 30
7 3 51.90 5.60 1.30 -0.20 WMM-2015 31
7 4 15.00 24.40 0.20 -0.10 WMM-2015 32
7 5 9.30 3.30 -0.40 -0.70 WMM-2015 33
7 6 -2.80 -27.50 -0.90 0.10 WMM-2015 34
7 7 6.70 -2.30 0.30 0.10 WMM-2015 35
8 0 24.00 0.00 0.00 0.00 WMM-2015 36
8 1 8.60 10.20 0.10 -0.30 WMM-2015 37
8 2 -16.90 -18.10 -0.50 0.30 WMM-2015 38
8 3 -3.20 13.20 0.50 0.30 WMM-2015 39
8 4 -20.60 -14.60 -0.20 0.60 WMM-2015 40
8 5 13.30 16.20 0.40 -0.10 WMM-2015 41
8 6 11.70 5.70 0.20 -0.20 WMM-2015 42
8 7 -16.00 -9.10 -0.40 0.30 WMM-2015 43
8 8 -2.00 2.20 0.30 0.00 WMM-2015 44
9 0 5.40 0.00 0.00 0.00 WMM-2015 45
9 1 8.80 -21.60 -0.10 -0.20 WMM-2015 46
9 2 3.10 10.80 -0.10 -0.10 WMM-2015 47
9 3 -3.10 11.70 0.40 -0.20 WMM-2015 48
9 4 0.60 -6.80 -0.50 0.10 WMM-2015 49
9 5 -13.30 -6.90 -0.20 0.10 WMM-2015 50
9 6 -0.10 7.80 0.10 0.00 WMM-2015 51
9 7 8.70 1.00 0.00 -0.20 WMM-2015 52
9 8 -9.10 -3.90 -0.20 0.40 WMM-2015 53
9 9 -10.50 8.50 -0.10 0.30 WMM-2015 54
10 0 -1.90 0.00 0.00 0.00 WMM-2015 55
10 1 -6.50 3.30 0.00 0.10 WMM-2015 56
10 2 0.20 -0.30 -0.10 -0.10 WMM-2015 57
10 3 0.60 4.60 0.30 0.00 WMM-2015 58
10 4 -0.60 4.40 -0.10 0.00 WMM-2015 59
10 5 1.70 -7.90 -0.10 -0.20 WMM-2015 60
10 6 -0.70 -0.60 -0.10 0.10 WMM-2015 61
10 7 2.10 -4.10 0.00 -0.10 WMM-2015 62
10 8 2.30 -2.80 -0.20 -0.20 WMM-2015 63
10 9 -1.80 -1.10 -0.10 0.10 WMM-2015 64
10 10 -3.60 -8.70 -0.20 -0.10 WMM-2015 65
11 0 3.10 0.00 0.00 0.00 WMM-2015 66
11 1 -1.50 -0.10 0.00 0.00 WMM-2015 67
11 2 -2.30 2.10 -0.10 0.10 WMM-2015 68
11 3 2.10 -0.70 0.10 0.00 WMM-2015 69
11 4 -0.90 -1.10 0.00 0.10 WMM-2015 70
11 5 0.60 0.70 0.00 0.00 WMM-2015 71
11 6 -0.70 -0.20 0.00 0.00 WMM-2015 72
11 7 0.20 -2.10 0.00 0.10 WMM-2015 73
11 8 1.70 -1.50 0.00 0.00 WMM-2015 74
11 9 -0.20 -2.50 0.00 -0.10 WMM-2015 75
11 10 0.40 -2.00 -0.10 0.00 WMM-2015 76
11 11 3.50 -2.30 -0.10 -0.10 WMM-2015 77
12 0 -2.00 0.00 0.10 0.00 WMM-2015 78
12 1 -0.30 -1.00 0.00 0.00 WMM-2015 79
12 2 0.40 0.50 0.00 0.00 WMM-2015 80
12 3 1.30 1.80 0.10 -0.10 WMM-2015 81
12 4 -0.90 -2.20 -0.10 0.00 WMM-2015 82
12 5 0.90 0.30 0.00 0.00 WMM-2015 83
12 6 0.10 0.70 0.10 0.00 WMM-2015 84
12 7 0.50 -0.10 0.00 0.00 WMM-2015 85
12 8 -0.40 0.30 0.00 0.00 WMM-2015 86
12 9 -0.40 0.20 0.00 0.00 WMM-2015 87
12 10 0.20 -0.90 0.00 0.00 WMM-2015 88
12 11 -0.90 -0.20 0.00 0.00 WMM-2015 89
12 12 0.00 0.70 0.00 0.00 WMM-2015 90
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