diff --git a/.gitignore b/.gitignore
index 33c30c2..d8045c4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@ bin/
 lib/
 build/
 .vscode/
-.idea/
\ No newline at end of file
+.idea/
+dataset/
diff --git a/README.md b/README.md
index 937d8e6..beef83a 100644
--- a/README.md
+++ b/README.md
@@ -46,7 +46,7 @@ English version: “The authors would like to acknowledge the team of Prof. Xiao
 
 ### 1.1 Compilation environment
 
-KF-GINS is managed by CMake and can be complied on both Linux and Windows. We recommend you choose Linux environment first.
+KF-GINS is managed by CMake and can be complied on all of Linux, MacOS and Windows. We recommend you choose Linux environment first.
 
 The configuration file is used as a parameter to run KF-GINS after successfully compiling it. To debug the program, it is also required to add the configuration file as a parameter.
 
@@ -101,6 +101,34 @@ Open a PowerShell or CMD terminal in the project directory and run the test data
 # .\bin\Release\KF-GINS.exe .\dataset\kf-gins.yaml
 ```
 
+### 1.5 Compile under MacOS
+
+xcode-select and cmake in MacOS.  You should install these tools following the commonds:
+
+```shell
+xcode-select --install
+brew install cmake
+```
+
+After preparing your own compilation environment, you can clone the repository locally and compile KF-GINS as follows:
+```shell
+# Clone the repository
+git clone https://github.com/i2Nav-WHU/KF-GINS.git ~/
+
+# Build KF-GINS
+cd ~/KF-GINS
+mkdir build && cd build
+
+cmake ../ -DCMAKE_BUILD_TYPE=Release 
+make -j8
+
+# Run demo dataset
+cd ~/KF-GINS
+./bin/KF-GINS ./dataset/kf-gins.yaml
+
+# Wait until the program finish
+```
+
 ## 2 Use KF-GINS
 
 ### 2.1 Prerequisite Knowledge
diff --git a/README_CN.md b/README_CN.md
index 68824e7..1a17746 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -44,14 +44,14 @@ English version: “The authors would like to acknowledge the team of Prof. Xiao
 ## 1.程序编译与运行
 ### 1.1 编译环境
 
-KF-GINS项目使用CMake管理，支持在Linux环境和Windows环境下编译。我们建议优先选择Linux环境进行编译。
+KF-GINS项目使用CMake管理，支持在Linux环境，MacOS环境和Windows环境下编译。我们建议优先选择Linux环境进行编译。
 
 KF-GINS编译成功后需要使用配置文件作为参数。程序调试时也需要添加命令行参数。
 
 ### 1.2 依赖库
 除了基本的C++标准库之外，KF-GINS依赖三个库，分别为Eigen3，abseil-cpp和yaml-cpp. 这三个库已经作为三方库加到工程源代码中，不需要使用者单独安装。
 
-### 1.3 Linux编译
+### 1.3 在 Linux内编译
 
 我们建议使用Ubuntu18.04或者Ubuntu20.04系统下g++编译工具进行KF-GINS编译，编译前需安装必要的库：
 ```shell
@@ -79,7 +79,7 @@ cd ~/KF-GINS
 # 等待程序运行结束
 ```
 
-### 1.4 Windows编译
+### 1.4 在 Windows 内编译
 
 Windows环境下一般使用MSVC(Microsoft Visual C/C++)编译器，我们建议在VSCode软件下进行编译。
 
@@ -99,6 +99,35 @@ Windows下需要通过Visual Studio Installer安装MSVC编译器；下载安装V
 # .\bin\Release\KF-GINS.exe .\dataset\kf-gins.yaml
 ```
 
+### 1.5 在 MacOS内编译
+
+在 MacOS 中使用 xcode-select 和 cmake。编译前需安装必要的工具：
+
+```shell
+xcode-select --install
+brew install cmake
+```
+
+配置好自己的编译环境之后，将仓库克隆到本地后并按照如下操作编译KF-GINS：
+
+```shell
+# 克隆仓库
+git clone https://github.com/i2Nav-WHU/KF-GINS.git ~/
+
+# 编译KF-GINS
+cd ~/KF-GINS
+mkdir build && cd build
+
+cmake ../ -DCMAKE_BUILD_TYPE=Release 
+make -j8
+
+# 运行测试数据集
+cd ~/KF-GINS
+./bin/KF-GINS ./dataset/kf-gins.yaml
+
+# 等待程序运行结束
+```
+
 ## 2 KF-GINS使用
 
 ### 2.1 基础知识