[time]
2023-05-30T11:51:55+02:00

[track]
4

[team_name]
ININ624

[team_institution]
School of Automation, Beijing Institute of Technology

[logolink]
https://drive.google.com/file/d/1ds0ie_vNjZFCGh8ZKFZzu4NuqtVOKGtu/view?usp=share_link

[team_members]


[reference_person]
Zhidong Meng

[reference_email]
zd.meng@bit.edu.cn

[description_short]
The Calibration of sensors is carried out leveraging the given data including constant bias estimation, temperature compensation, and random characteristics for the gyroscope. The calibration of magnetometer is realized by ellipsoid fitting method. The initial velocity is set to 0, and the initial position is obtained by GNSS solution. The initial attitude is determined by TRIAD method. The error state sequential Kalman filter is used to estimate the errors in attitude, velocity, position, accelerometer drifts, gyroscope drifts, and body odometer (BOR) drifts. The observation resources from pseudo Zero-velocity measurement, Barometer, Global Navigation Satellite System, and BOR. Fusing BOR is an algorithm proposed by our team that utilizes displacement estimation to suppress multiple errors in inertial navigation by breaking the integral process. To avoid failed observer to disturb measurement updates, a chi square test and expectation limitation are introduced.

[description_long_link]
https://drive.google.com/file/d/1YwoZooBORXhj3PBYeCip2JI84FPdwmV6/view?usp=sharing

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true

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