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

Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

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; in revised form: 8 November 2012 / Accepted: 9 November 2012 / Published: 20 November 2012
(This article belongs to the Section Physical Sensors)
PDF Full-text Download PDF Full-Text [3756 KB, uploaded 20 November 2012 12:26 CET]
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

Article Statistics

Load and display the download statistics.

Citations to this Article

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.

AMA Style

Falco G, Einicke GA, Malos JT, Dovis F. Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions. Sensors. 2012; 12(11):15983-16007.

Chicago/Turabian Style

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.

Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert