Next Article in Journal
A Kalman Filter for SINS Self-Alignment Based on Vector Observation
Next Article in Special Issue
Reduced-Drift Virtual Gyro from an Array of Low-Cost Gyros
Previous Article in Journal
Replacement Condition Detection of Railway Point Machines Using an Electric Current Sensor
Previous Article in Special Issue
Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems
Article

Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios

Istituto Superiore Mario Boella, Torino 10138, Italy
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Sensors 2017, 17(2), 255; https://doi.org/10.3390/s17020255
Received: 30 November 2016 / Revised: 13 January 2017 / Accepted: 19 January 2017 / Published: 29 January 2017
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures are mainly implemented in professional devices and are based on high-grade Inertial Measurement Units (IMUs). This paper investigates the performance improvements enabled by the tight integration, using low-cost sensors and a mass-market GNSS receiver. Performance is assessed through a series of tests carried out in real urban scenarios and is compared against commercial modules, operating in standalone mode or featuring loosely-coupled integrations. The paper describes the developed tight-integration algorithms with a terse mathematical model and assesses their efficacy from a practical perspective. View Full-Text
Keywords: GNSS/INS integration; horizontal positioning errors; urban navigation GNSS/INS integration; horizontal positioning errors; urban navigation
Show Figures

Figure 1

MDPI and ACS Style

Falco, G.; Pini, M.; Marucco, G. Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios. Sensors 2017, 17, 255. https://doi.org/10.3390/s17020255

AMA Style

Falco G, Pini M, Marucco G. Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios. Sensors. 2017; 17(2):255. https://doi.org/10.3390/s17020255

Chicago/Turabian Style

Falco, Gianluca, Marco Pini, and Gianluca Marucco. 2017. "Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios" Sensors 17, no. 2: 255. https://doi.org/10.3390/s17020255

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop