Archivio Istituzionale della RicercaThe 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 / Falco, Gianluca; Garry A., Einicke; John T., Malos; Dovis, Fabio. - In: SENSORS. - ISSN 1424-8220. - ELETTRONICO. - 12:11(2012), pp. 15983-16007. [10.3390/s121115983]
Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions
FALCO, GIANLUCA;DOVIS, Fabio
2012
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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https://hdl.handle.net/11583/2504916
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