[time]
2022-09-01T04:17:04+02:00

[track]
6

[team_name]
ict

[team_institution]
ict

[logolink]


[team_members]


[reference_person]
ningbokun zhouzineng

[reference_email]
bokunning@163.com

[description_short]
<br />The fusion algorithm is based on the high-frequency update of the IMU, and the extended Kalman filter is used for fusion in the form of other sensor assistance. GNSS provides position assistance, and the barometer provides relative elevation change observation. When the carrier is detected to be stationary, zero velocity observation and zero angular rate are added. Observe, suppress divergence in heading and velocity. At the same time, the parameters of inertial navigation are estimated by Kalman filter, and the feedback correction is performed. The standard deviation of the observation information and the observation error are used for weighting to realize the adaptive adjustment of the observation noise matrix, which can effectively eliminate the outliers. GNSS lever arm, sea level pressure, inertial navigation bias are estimated.

[description_long_link]
https://1drv.ms/w/s!AtltOe2sBNe5jFKsQBkddmyYvRGI

[publish_check_]
true

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true

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true

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true