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Sensors 2017, 17(2), 255;

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
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)
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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

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

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