urban driving huge error

[haibo9916]

When using your GVINS to test the urban driving dataset, I encountered a significant error on a section of the road. What is the problem and how to solve it.？The huge error occurred in the red box of the following figure

@shaojie @dvorak0 @WayneTimer @hlx1996

[ooww0123TW]

It seems that reset function has been called at that time due to failure detection.

[GUAIYISHASHOU]

May I ask what dataset you are using? Is it data containing raw GNSS observations?