Groves GNSS / INS Navigation — C++ Migration

C++17 port of Paul D. Groves' navigation simulation suite from Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems (2nd ed., 2013).

Project Attribution & Authority

This repository is a C++17 migration of the navigation simulation suite originally developed in MATLAB by Paul D. Groves.

• Lead Developer/Maintainer: ldv-1000111 (2026)
• Original Algorithms & Data: Based on Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems (2nd Ed., 2013)
• Technical Stewardship: All C++ implementation, GoogleTest suites, and Docker-based CI/CD scaffolding are original works developed by ldv-1000111

Legal Status

The math and logic belong to the original author, while this specific C++ "expression" and implementation are the creation of the current maintainer. This project is a technical transformation and does not imply official endorsement by Paul Groves

Status: Step 1 Complete — Project scaffolding (CMake, constants, CSV I/O).

Quick Start

Prerequisites

• Docker (with Docker Compose v2)
• Git

Build and test

git clone git@github.com:ldv-1000111/gnss_ins_cpp.git
cd gnss_ins_cpp
docker compose --profile build build build-gcc
docker compose --profile dev run --rm shell-gcc

Inside the shell:

cmake -S /workspace -B /build/gcc -G Ninja
cmake --build /build/gcc --parallel 16
ctest --test-dir /build/gcc -V

Run with Clang 19

docker compose --profile build build build-clang
docker compose --profile dev run --rm shell-clang
cmake -S /workspace -B /build/clang -G Ninja
cmake --build /build/clang --parallel 16
ctest --test-dir /build/clang -V

Full CI pipeline (both compilers)

docker compose --profile ci up --abort-on-container-exit

Project structure

include/gnss_ins/
├── common.hpp
└── io/profile_io.hpp

tests/
├── test_io.cpp
└── CMakeLists.txt

docker/
├── Dockerfile.gcc
├── Dockerfile.clang
├── Dockerfile.docs
└── toolchain-clang.cmake

data/
├── Profile_0.csv
├── Profile_1.csv
├── Profile_2.csv
├── Profile_3.csv
└── Profile_4.csv

CMakeLists.txt
docker-compose.yml

Documentation

docker compose --profile docs up docs
# browse http://localhost:8080

Development workflow

docker compose --profile dev run --rm shell-gcc
cmake -S /workspace -B /build/gcc -G Ninja
cmake --build /build/gcc --parallel 16
ctest --test-dir /build/gcc -V

Compiler versions

• GCC 14.2 (Debian Trixie)
• Clang 19 (Debian Trixie)
• CMake 3.28
• Eigen3 3.4
• GoogleTest 1.14.0

License

BSD 3-Clause License

Next steps

Step 2: Earth Model & Math Utilities (7 functions)