gtsam_gnss

This repository is a small set of custom factors and MATLAB wrappers that use GTSAM for GNSS processing.

This repository is currently under development, so we will gradually add content.

Test environments

• Ubuntu 22.04 / Windows 11
• MATLAB 2024a

Build on Ubuntu 22.04

GTSAM

• GTSAM: Factor graph optimization library. Due to a problem with the MATLAB wrapper, please clone GTSAM from my repository instead of the original GTSAM and build it using the following procedure.

sudo apt-get install -y git build-essential cmake libboost-all-dev libtbb-dev python3-pip
pip install pyparsing
git clone https://github.com/taroz/gtsam-4.3a.git
cd gtsam-4.3a
mkdir build && cd build
cmake .. -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_INSTALL_MATLAB_TOOLBOX=ON
make -j$(nproc)
sudo make install

gtsam_toolbox is installed in /usr/local/

gtsam-gnss

git clone https://github.com/taroz/gtsam_gnss.git
cd gtsam_gnss
mkdir build && cd build
cmake ..
make
sudo make install
sudo ldconfig

By default, gtsam_gnss is installed in user/local/gtsam_toolbox. Add user/local/gtsam_toolbox to your MATLAB search path.

Build on Windows 11

Building GTSAM and gtsam_gnss on Windows is a little complicated. The procedure is shown here.

Examples

• See examples directory
• Use in the Google Smartphone Decimeter Challenge. See gsdc2023 repository

Citation

T. Suzuki, "Open-Source Factor Graph Optimization Package for GNSS: Examples and Applications," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), (accepted)