openINS is the navigation engine that provides a full state estimate of the system based on the available navigation sensor inputs. openINS uses a multi-state Kalman filter, as well as several pre-filters, to fuse aiding sensor data with high-rate inertial data provided by the IMU/Gyro. It requires several configuration files to specify application parameters, communication channels, sensor parameters, and system transforms.

The openINS configuration files are contained in /usr/local/bin/openins_config.

Operators should typically have no reason to modify these configuration files, though it may be required to adjust the sensor transforms should physical sensor placement on the vehicle change.