Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios

被引：163

作者：

Falco, Gianluca ^{[1
]}

Pini, Marco ^{[1
]}

Marucco, Gianluca ^{[1
]}

机构：

[1] Ist Super Mario Boella, I-10138 Turin, Italy

来源：

SENSORS | 2017年 / 17卷 / 02期

关键词：

GNSS/INS integration; horizontal positioning errors; urban navigation; COUPLED GPS/INS INTEGRATION; INERTIAL NAVIGATION; SYSTEM;

D O I：

10.3390/s17020255

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures are mainly implemented in professional devices and are based on high-grade Inertial Measurement Units (IMUs). This paper investigates the performance improvements enabled by the tight integration, using low-cost sensors and a mass-market GNSS receiver. Performance is assessed through a series of tests carried out in real urban scenarios and is compared against commercial modules, operating in standalone mode or featuring loosely-coupled integrations. The paper describes the developed tight-integration algorithms with a terse mathematical model and assesses their efficacy from a practical perspective.

引用

页数：25