A naive implementation: Tightly coupled single frequency GPS BDS RTKINS in C++.
Our open-source implementation is only a preliminary architecture. It does not represent the state-of-the-art. The architecture needs more modules, including reliable cycle slip repair, gross error preprocessing, and fixed solution verification.
TCRTKINS says: I am based on RTKLIB, PSINS, and GINAV. I admire these excellent open-source projects. I hope one day I can become as good as them.
reference; http://www.rtklib.com/rtklib_tutorial.htm http://www.psins.org.cn/ https://github.com/kaichen686/GINav