improve position estimate by feeding pressure sensor data through IMU sensor fusion board

[aksell]

The IMU board used on project Otterholm features a sensor fusion chip that improves the accuracy of the IMU.

The sensor fusion chip is sensor agnostic meaning that it can take data from most sensors as long as the sensor is I2C register readable. We can therefore feed the sensor fusion algorithm data from the pressure sensor to give us a more precise position estimate. kriswiner has a nice wiki on sensor fusion with the IMU board, this might be a good place to start implementing this.

[aksell]

To clarify project Otterholm is the name of VortexNTNU's ROV project intended for use in the 2018 MATE competition

[sindrehan]

Including data from the pressure sensor in the fusion algorithm is not really a matter of improving the accuracy for pressure, but rather to feed the algorithm more data to allow it give us a more precise position/attitude estimate.

[aksell]

You are right, I'll clarify the issue.