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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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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cited_by cdi_FETCH-LOGICAL-c571t-b692316f75387c95011d071a18ef630f2464cb577277e3bfa5d0c929a2bd51253
cites cdi_FETCH-LOGICAL-c571t-b692316f75387c95011d071a18ef630f2464cb577277e3bfa5d0c929a2bd51253
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container_title Sensors (Basel, Switzerland)
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creator Falco, Gianluca
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Dovis, Fabio
description 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_str_mv 10.3390/s121115983
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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
title Performance analysis of constrained loosely coupled GPS/INS integration solutions
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