[time]
2020-09-14T06:46:34+02:00

[team_name]
ict_bupt

[team_institution]
Institution of Computer Technique, Chinese Academy of Sciences.  Beijing University of Posts and Telecommunications

[logolink]


[system_name]


[website]


[track]
6

[reference_person]
Haiyong Luo, Linfeng Bao

[email]
baolinfeng19s@ict.ac.cn

[description]
We use calibration data with ground truth to estimate IMU bias , scale factor error and calculate initial mounting angle matrix. Both forward and backward Kalman filter is adapted to integrate INS and GNSS data in typical urban conditions with ground truth, during witch IMU bias error scale factor error are re-compensated. AHRS and MGAN data provide constrains for attitudes while PRES data for height constrains. 

[references]