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Sensors 2012, 12(11), 15983-16007; doi:10.3390/s121115983
Article

Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

1,* , 2
,
2
 and
3
1 Istituto Superiore Mario Boella, Via P.C. Boggio 61, 10138 Torino, Italy 2 Exploration and Mining, Pullenvale, QLD 4069, Australia 3 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 / Revised: 8 November 2012 / Accepted: 9 November 2012 / Published: 20 November 2012
(This article belongs to the Section Physical Sensors)
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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.
Keywords: loosely coupled integration; Kalman filter; constraints; GPS outages loosely coupled integration; Kalman filter; constraints; GPS outages
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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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.

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