├── CMakeLists.txt ├── Data ├── BRDM00DLR_S_20221870000_01D_MN.rnx ├── Mongkok.pos ├── TST.pos ├── UrbanNav_TST_GT_raw.txt ├── UrbanNav_mongkok_GT_part_raw.txt ├── UrbanNav_whampoa_raw.txt ├── Wha.pos ├── bridge2.pos ├── bridge2.txt ├── dataHashTu.rnx ├── dataTST.rnx ├── dataWha.rnx ├── deg1.pos ├── deg2.pos ├── gil.pos ├── gt_deg1.txt ├── gt_deg2.txt ├── gt_deg3.txt ├── parking2.pos ├── parking2.txt ├── switch2.pos ├── switch2_rawcut.txt ├── tree3.pos └── tree3x.txt ├── LICENSE ├── Log ├── .txt ├── guide.md ├── mat_out.txt ├── pos_est.txt ├── pos_ppp.txt └── pos_rtk.txt ├── README.md ├── Supplementary_Material_for_LIGO.pdf ├── config ├── avia.yaml ├── avia_deg.yaml ├── hesai.yaml ├── robosense.yaml └── velody.yaml ├── image ├── Sample.png └── hardware.jpg ├── include ├── .vscode │ ├── c_cpp_properties.json │ └── settings.json ├── Curvefitter │ ├── curvefitter.hpp │ ├── lidar_feature_factor.h │ ├── se3_trajectory.hpp │ └── trajectory_estimator.hpp ├── IKFoM │ ├── .gitignore │ ├── .vscode │ │ └── settings.json │ ├── IKFoM_toolkit │ │ ├── .vscode │ │ │ └── settings.json │ │ ├── esekfom │ │ │ ├── .vscode │ │ │ │ └── settings.json │ │ │ ├── esekfom.hpp │ │ │ └── util.hpp │ │ └── mtk │ │ │ ├── build_manifold.hpp │ │ │ ├── src │ │ │ ├── SubManifold.hpp │ │ │ ├── mtkmath.hpp │ │ │ └── vectview.hpp │ │ │ ├── startIdx.hpp │ │ │ └── types │ │ │ ├── S2.hpp │ │ │ ├── SEn.hpp │ │ │ ├── SOn.hpp │ │ │ ├── vect.hpp │ │ │ └── wrapped_cv_mat.hpp │ ├── LICENSE │ └── README.md ├── Urbannav_process │ ├── gnss_tools.h │ ├── handler.cpp │ ├── handler.h │ └── nlosExclusion │ │ ├── DOP.h │ │ ├── Error.h │ │ ├── GNSS_Raw.h │ │ ├── GNSS_Raw_Array.h │ │ ├── GNSS_Raw_mf.h │ │ ├── Satellite_Info.h │ │ └── exclusionSatNum.h ├── basalt │ ├── spline │ │ ├── calib_bias.hpp │ │ ├── ceres_local_param.hpp │ │ ├── ceres_spline_helper.h │ │ ├── ceres_spline_helper_jet.h │ │ ├── rd_spline.h │ │ ├── se3_spline.h │ │ ├── so3_spline.h │ │ ├── spline_common.h │ │ └── spline_segment.h │ └── utils │ │ ├── assert.h │ │ ├── eigen_utils.hpp │ │ └── sophus_utils.hpp ├── chi-square.h ├── color.h ├── common_lib.h ├── gnss_factor │ ├── gnss_cp_factor.hpp │ ├── gnss_cp_factor_nolidar.hpp │ ├── gnss_cp_factor_nolidar_c.hpp │ ├── gnss_cp_factor_nolidar_pos.hpp │ ├── gnss_cp_factor_nor.hpp │ ├── gnss_cp_factor_pos.hpp │ ├── gnss_ddt_smooth_factor.hpp │ ├── gnss_dt_ddt_factor.hpp │ ├── gnss_lio_factor.hpp │ ├── gnss_lio_factor_nolidar.hpp │ ├── gnss_lio_gravity_factor.hpp │ ├── gnss_lio_gravity_hard_factor.hpp │ ├── gnss_lio_hard_factor.hpp │ ├── gnss_lio_hard_factor_nor.hpp │ ├── gnss_lio_rel_factor.hpp │ ├── gnss_prior_factor.hpp │ ├── gnss_psr_dopp_factor.hpp │ ├── gnss_psr_dopp_factor_nolidar.hpp │ ├── gnss_psr_dopp_factor_nolidar_pos.hpp │ ├── gnss_psr_dopp_factor_nor.hpp │ ├── gnss_psr_dopp_factor_pos.hpp │ └── integration_base.h ├── ivox │ ├── eigen_types.h │ ├── hilbert.hpp │ ├── ivox3d.h │ └── ivox3d_node.hpp ├── nmea_factor │ ├── nmea_factor.hpp │ ├── nmea_factor_nolidar.hpp │ ├── nmea_lio_factor.hpp │ ├── nmea_lio_gravity_hard_factor.hpp │ ├── nmea_lio_gravity_rel_factor.hpp │ ├── nmea_pos_factor.hpp │ └── nmea_pos_factor_nolidar.hpp ├── so3_math.h └── utils │ ├── ceres_callbacks.h │ ├── eigen_utils.hpp │ ├── gps_convert_utils.h │ ├── math_utils.h │ ├── tic_toc.h │ └── vlp_common.h ├── launch ├── gdb_debug_example.launch ├── mapping_avia.launch ├── mapping_avia_deg.launch ├── mapping_hesai32.launch ├── mapping_robosense.launch └── mapping_velody16.launch ├── msg └── LocalSensorExternalTrigger.msg ├── package.xml ├── paper └── LIGO_A_Tightly_Coupled_LiDAR-Inertial-GNSS_Odometry_Based_on_a_Hierarchy_Fusion_Framework_for_Global_Localization_With_Real-Time_Mapping.pdf ├── rviz_cfg ├── .gitignore └── loam_livox.rviz └── src ├── Estimator.cpp ├── Estimator.h ├── GNSS_Assignment.cpp ├── GNSS_Assignment.h ├── GNSS_Initialization.cpp ├── GNSS_Initialization.h ├── GNSS_Processing_fg.cpp ├── GNSS_Processing_fg.h ├── IMU_Processing.cpp ├── IMU_Processing.h ├── 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