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      Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

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          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.

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          Statistics of atomic frequency standards

          D.W. Allan (1966)
          Article 0 comments Cited 431 times – based on 0 reviews     Review now
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            Estimation Techniques for Low-Cost Inertial Navigation

            E SHIN, E.H. Shin, E.-H. Shin … (2005)
            Article 0 comments Cited 25 times – based on 0 reviews     Review now
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              Benefits of Combined GPS/GLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation

              Antonio Angrisano, Mark G. Petovello, Giovanni Pugliano (2012)
              The integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) has been very actively researched for many years due to the complementary nature of the two systems. In particular, during the last few years the integration with micro-electromechanical system (MEMS) inertial measurement units (IMUs) has been investigated. In fact, recent advances in MEMS technology have made possible the development of a new generation of low cost inertial sensors characterized by small size and light weight, which represents an attractive option for mass-market applications such as vehicular and pedestrian navigation. However, whereas there has been much interest in the integration of GPS with a MEMS-based INS, few research studies have been conducted on expanding this application to the revitalized GLONASS system. This paper looks at the benefits of adding GLONASS to existing GPS/INS(MEMS) systems using loose and tight integration strategies. The relative benefits of various constraints are also assessed. Results show that when satellite visibility is poor (approximately 50% solution availability) the benefits of GLONASS are only seen with tight integration algorithms. For more benign environments, a loosely coupled GPS/GLONASS/INS system offers performance comparable to that of a tightly coupled GPS/INS system, but with reduced complexity and development time.
              Article 0 comments Cited 15 times – based on 0 reviews     Review now
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                Author and article information

                Journal
                Journal ID (nlm-ta): Sensors (Basel)
                Journal ID (iso-abbrev): Sensors (Basel)
                Title: Sensors (Basel, Switzerland)
                Publisher: Molecular Diversity Preservation International (MDPI)
                ISSN (Electronic): 1424-8220
                Publication date Collection: 2012
                Publication date (Electronic): 20 November 2012
                Volume: 12
                Issue: 11
                Pages: 15983-16007
                Affiliations
                [1 ] Istituto Superiore Mario Boella, Via P.C. Boggio 61, 10138 Torino, Italy
                [2 ] CSIRO Exploration and Mining, Pullenvale, QLD 4069, Australia; E-Mails: garry.einicke@ 123456csiro.au (G.A.E.); john.malos@ 123456csiro.au (J.T.M.)
                [3 ] Politecnico di Torino, Department of Electronics and Telecommunications, Corso Duca degli Abruzzi, 24, 10129 Torino, Italy; E-Mail: fabio.dovis@ 123456polito.it
                Author notes
                [* ] Author to whom correspondence should be addressed; E-Mail: falco@ 123456ismb.it ; Tel.: +39-011-2276-404; Fax: +39-011-2276-499.
                Article
                Publisher ID: sensors-12-15983
                DOI: 10.3390/s121115983
                PMC ID: 3522994
                PubMed ID: 23202241
                SO-VID: 7868dc79-8287-427c-ba6f-4ffe70b6ad88
                Copyright © © 2012 by the authors; licensee MDPI, Basel, Switzerland.
                License:

                This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( http://creativecommons.org/licenses/by/3.0/).

                History
                Date received : 07 September 2012
                Date revision received : 08 November 2012
                Date accepted : 09 November 2012
                Categories
                Subject: Article

                ScienceOpen disciplines: Biomedical engineering
                Keywords: constraints,gps outages,kalman filter,loosely coupled integration
                Data availability:
                ScienceOpen disciplines: Biomedical engineering
                Keywords: constraints, gps outages, kalman filter, loosely coupled integration

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