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Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions
Istituto Superiore Mario Boella, Via P.C. Boggio 61, 10138 Torino, Italy
Exploration and Mining, Pullenvale, QLD 4069, Australia
Politecnico di Torino, Department of Electronics and Telecommunications, Corso Duca degli Abruzzi, 24, 10129 Torino, Italy
* Author to whom correspondence should be addressed.
Received: 7 September 2012; in revised form: 8 November 2012 / Accepted: 9 November 2012 / Published: 20 November 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.
Keywords: loosely coupled integration; Kalman filter; constraints; GPS outages
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Cite This Article
MDPI and ACS Style
Falco, G.; Einicke, G.A.; Malos, J.T.; Dovis, F. Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions. Sensors 2012, 12, 15983-16007.
Falco G, Einicke GA, Malos JT, Dovis F. Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions. Sensors. 2012; 12(11):15983-16007.
Falco, Gianluca; Einicke, Garry A.; Malos, John T.; Dovis, Fabio. 2012. "Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions." Sensors 12, no. 11: 15983-16007.