GNSS/INS/ODO Loosely Couple based on EKF

1. Eigen
2. glog
3. gfalgs
4. yaml-cpp

dataFusion configure.yml

ifstream &operator>>(ifstream &is, GnssData &gnss) {
  is >> gnss.week >> gnss.gpst;
  is >> gnss.lat >> gnss.lon >> gnss.height;
  is >> gnss.pos_std[0] >> gnss.pos_std[1] >> gnss.pos_std[2];
  is >> gnss.hdop >> gnss.ns >> gnss.mode;
  return is;
}

ifstream &operator>>(ifstream &is, ImuData &imu) {

#if IMU_FRAME == 0 /*前左上*/
  is >> imu.gpst;
  is >> imu.gyro[0] >> imu.gyro[1] >> imu.gyro[2];
  is >> imu.acce[0] >> imu.acce[1] >> imu.acce[2];
#else /*右前下坐标系*/
  is >> imu.gpst;
  is >> imu.gyro[1] >> imu.gyro[0] >> imu.gyro[2];
  is >> imu.acce[1] >> imu.acce[0] >> imu.acce[2];
  imu.gyro[2] *= (-1.0);
  imu.acce[2] *= (-1.0);
#endif
  return is;
}

istream &operator>>(istream &is, AuxiliaryData &aux) {
  is >> aux.gpst >> aux.velocity >> aux.angular_vel;
  return is;
}

ostream &operator<<(ostream &os, const NavOutput &output) {
  os << output.week << SEPERATE <<fixed<< setprecision(3) << output.gpst << SEPERATE;
  os << fixed << setprecision(12) << output.pos[0] / _deg << SEPERATE << output.pos[1] / _deg << SEPERATE;
  os << fixed << setprecision(3) << output.pos[2] << SEPERATE;
  os << fixed << setprecision(3) << output.vn[0] << SEPERATE << output.vn[1] << SEPERATE << output.vn[2] << SEPERATE;
  os << fixed << setprecision(3) << output.atti[0] / _deg << SEPERATE << output.atti[1] / _deg << SEPERATE
	 << output.atti[2] / _deg << SEPERATE;
  os << fixed << setprecision(2) << output.gb[0] / _deg * _hour << SEPERATE << output.gb[1] / _deg * _hour << SEPERATE
	 << output.gb[2] / _deg * _hour << SEPERATE;
  os << fixed << setprecision(2) << output.ab[0] / _deg * _hour << SEPERATE << output.ab[1] / _deg * _hour << SEPERATE
	 << output.ab[2] / _deg * _hour << SEPERATE;
  os << output.info.gnss_mode << SEPERATE << output.info.sensors << SEPERATE;
#if KD_IN_KALMAN_FILTER == 1
  os << fixed << setprecision(3) << output.kd << SEPERATE;
#endif
  return os;
}