With the development of GNSS, many open-source software packages have become available for GNSS data processing. However, there are only a handful of open-source software that can handle GNSS/INS integrated data, even though GNSS/INS integration schemes have been widely used in vehicle navigation systems due to their high accuracy, stability, and continuity in harsh environments. Considering the above, we developed an open-source software, GINav, which focuses on the data processing and analysis of a GNSS/INS integrated navigation system. GINav is suitable for in-vehicle situations and aims to provide a useful tool for carrying out GNSS/INS-related research. It is a convenient platform for testing new algorithms and experimental functionalities. GINav is developed in the MATLAB environment. It provides a user-friendly graphical user interface (GUI) to facilitate learning how to use it quickly. A visualization tool, GINavPlot, is provided for solution presentation and error analysis. We have conducted experimental tests to validate and assess the performance of GINav. The results indicate that GINav can provide navigation solutions comparable to general GNSS/INS accuracy standards, and it can handle both suburban and urban GNSS/INS integrated datasets.

随着 GNSS 的发展，许多开源软件包已可用于 GNSS 数据处理。然而，能够处理GNSS/INS集成数据的开源软件屈指可数，尽管GNSS/INS集成方案由于其高精度、稳定性和恶劣环境下的连续性而被广泛应用于车载导航系统。综上所述，我们开发了一款开源软件GINav，专注于GNSS/INS组合导航系统的数据处理和分析。GINav 适用于车载情况，旨在为开展 GNSS/INS 相关研究提供有用的工具。它是测试新算法和实验功能的便捷平台。GINav 是在 MATLAB 环境中开发的。它提供了一个用户友好的图形用户界面 (GUI)，以方便学习如何快速使用它。提供了一个可视化工具 GINavPlot，用于解决方案展示和错误分析。我们进行了实验测试来验证和评估 GINav 的性能。结果表明，GINav 可以提供与通用 GNSS/INS 精度标准相当的导航解决方案，并且它可以处理郊区和城市 GNSS/INS 集成数据集。