Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

Abstract

The paper investigates approaches for loosely coupled GPS/INS integration. Error performance is calculated using a reference trajectory. A performance improvement can be obtained by exploiting additional map information (for example, a road boundary). A constrained solution has been developed and its performance compared with an unconstrained one. The case of GPS outages is also investigated showing how a Kalman filter that operates on the last received GPS position and velocity measurements provides a performance benefit. Results are obtained by means of simulation studies and real data.

DOI: 10.3390/s121115983

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Cite this paper

@inproceedings{Falco2012PerformanceAO, title={Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions}, author={Gianluca Falco and Garry A. Einicke and John T. Malos and Fabio Dovis}, booktitle={Sensors}, year={2012} }