# How to integrate INS, GPS and SLAM for Lidar

**URL:** https://discourse.paraview.org/t/how-to-integrate-ins-gps-and-slam-for-lidar/13490
**Category:** LidarView, Lidar, and SLAM
**Created:** [December 12, 2023, 7:33pm UTC](https://discourse.paraview.org/t/how-to-integrate-ins-gps-and-slam-for-lidar/13490 "2023-12-12T19:33:12Z")
**Posts on this page:** 1
**Showing post:** 7

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### Author: ![Gatien\_Ferret](https://discourse.paraview.org/user_avatar/discourse.paraview.org/gatien_ferret/32/9789_2.png) [@Gatien\_Ferret](https://discourse.paraview.org/u/Gatien_Ferret)
#### Post date: [April 2, 2024, 9:58am UTC](https://discourse.paraview.org/t/how-to-integrate-ins-gps-and-slam-for-lidar/13490/7 "2024-04-02T09:58:31Z")

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The instructions to read the data are similar to the ones described in this [post](https://discourse.paraview.org/t/creating-custom-slam-trajectory/14292/4), but with accelerations and angular velocities instead of positions / orientations.  
This means, we need relative calibration, time synchronization and expected formatting.

Typical data should look like this  
 ![image](https://discourse.paraview.org/uploads/default/original/2X/7/7cb7bea4ab2971d9da56c359c15a49755bff3a22.png)

Usage is also similar, we need to give it a weight in the SLAM and you may use ‘Optimize Graph with IMU’ for post processing. But we also need to to set the gravity vector ( by default 0,0,-9.80511 ) if the data is containing it.

Hope this helps.

Gatien

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