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.
Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions / Gianluca Falco ; Garry A. Einicke; John T. Malos; Fabio Dovis. - In: SENSORS. - ISSN 1424-8220. - ELETTRONICO. - 12:11(2012), pp. 15983-16007. [10.3390/s121115983]
|Titolo:||Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions|
|Data di pubblicazione:||2012|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.3390/s121115983|
|Appare nelle tipologie:||1.1 Articolo in rivista|