GNSS INS Visualizer

Realtime GNSS/INS web visualizer with a PlotJuggler-style layout.

Project Structure

backend/
  app.py              Flask + Socket.IO server
bridge/
  parser.py           Serial line parser
  reader.py           Serial/demo data bridge
  store.py            Rolling sample store
frontend/
  templates/
    index.html        Web UI shell
  static/
    app.js            Plotting logic
    style.css         Dashboard styling
server.py             Root entrypoint
viewer.py             Legacy matplotlib viewer

Features

• Left-side signal browser for enabling or disabling channels
• Shared rolling time axis for synchronized plots
• Separate plots for quaternion, gyro, accel, position covariance, and velocity covariance
• GPS track panel and latest sample summary
• Demo mode for testing without hardware

Setup

cd C:\STM32_WS\gnss_ins_visualizer
python -m venv .venv
.\.venv\Scripts\Activate.ps1
pip install -r requirements.txt

Run

Demo mode

.\.venv\Scripts\Activate.ps1
python server.py --port DEMOMODE

Real serial port

.\.venv\Scripts\Activate.ps1
python server.py --port COM5 --baud 115200

Open http://127.0.0.1:5000 in your browser.

Options

Flag	Default	Description
--port	DEMOMODE	Serial port or DEMOMODE
--baud	115200	Serial baud rate
--max-points	500	Rolling buffer size kept by the backend
--host	127.0.0.1	Bind address
--web-port	5000	HTTP port

Expected Input Format

GPS fix=3 lat=37.5417762 lon=127.0796099 Pcov_xyz(N,E,D)=[0.157,0.296,0.911] Vcov_xyz(N,E,D)=[0.012,0.022,0.013] | IMU q=(0.925,0.014,0.002,0.380) G=(0.000,0.000,0.000) A=(0.017,0.026,1.004)