could you provide some log file?
Posts made by Dong xiaoguang
Please refer to this for a quick start:
Unless you have no other choice, don't use NMEA. For ublox, we support nav-pvt. You can config your unit to output and only output ublox binary nav-pvt. If you have to use NMEA, you need to config the unit to output GGA, VTG and RMC.
There are also other posts in the forum about INS. You could also first search in the forum.
First, please check your receiver output baud rate and protocol. The protocol should match that in UserConfiguration.c.
Further, you may print log in EKF_SetInputStruct() in EKF_Algorithm.c to see if GPS measurement is fed into the algorithm. If not, you need check the GPS driver in taskGPS.c.