navfusion

navfusion is a real-time-first package for 3D IMU+GNSS sensor fusion.

Design goals

• Production-style architecture instead of a single script
• Deterministic event processing under asynchronous sensor timing
• Extensible model/filter interfaces without heavyweight framework coupling
• Portfolio-ready demos with measurable behavior under failures

MVP features

• Error-state EKF and UKF backends (quaternion attitude)
• IMU propagation + GNSS position/velocity updates
• Bounded out-of-order event handling
• Innovation gating and update diagnostics
• Replay and stream-friendly APIs
• NIS/NEES consistency checks
• EKF-vs-UKF comparison artifacts (RMSE/ANIS/ANEES/throughput)