GNSS/IMU recommendation

I moved from the remote sensing community to the robotics community a few years ago.

In the remote sensing community we've worked usually with GNSS/IMU solutions from Novatel or Applanix which cost 15k€-100k€. They provided high-accuracy trajectories (paths), mainly for lidar-based mapping.

However, these sensors are too expensive for what I'm trying now: lidar-based perception in urban areas.

Thus, I'm looking for a cheaper GNSS/IMU solution which:

• has a good, actively mantained ROS driver
• provides a relatively good 6DoF trajectory based on GNSS RTK (multi-frequency)
• costs <10k€

I would be very grateful for any recommendations.