[time]
2023-09-01T05:57:12+02:00

[track]
6

[team_name]
Advanced Integrated Navigation System

[team_institution]
Beijing Automation Control Equipment Institute

[logolink]


[team_members]


[reference_person]
Zhuang Guangchen

[reference_email]
zhuanggc@outlook.com

[description_short]
In the first 5 minutes, we use a nonlinear estimation algorithm based on geomagnetic and gravity vectors to obtain the initial attitud. During the validity period of GNSS, we estimate and compensate the installation errors between the IMU, odometer, geomagnetic sensor, and the vehicle. After the degradation of GNSS occurs, the satellite signals are evaluated through a model-based detection method. When the accuracy of satellites cannot meet the requirements of precision, they are promptly excluded from the integrated navigation framework to reduce the negative impact to the navigation system. When the satellite signal fails completely, vehicle navigation and positioning based on fully autonomous sensors are used. A constraint mechanism based on vehicle motion is introduced to further improve the robustness of autonomous navigation and positioning.

[description_long_link]
https://docs.google.com/document/d/1edtHNlJdBm-Y3znxfPD9JdC1fWpQRs3mYtI4p1LVq4g/edit?usp=sharing

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