Performance analysis of constrained loosely coupled GPS/INS integration solutions

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 it...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2012-11, Vol.12 (11), p.15983-16007
Main Authors: Falco, Gianluca, Einicke, Garry A, Malos, John T, Dovis, Fabio
Format: Article
Language:English
Subjects:
Boundaries
Constraints
Embedded systems
Estimates
Global Positioning System
GPS outages
Kalman filter
loosely coupled integration
Mathematical analysis
Roads
Satellite navigation systems
Sensors
Simulation
Velocity
Velocity measurement
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Summary: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.
ISSN:1424-8220
1424-8220
DOI:10.3390/s121115983