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Sensors 2018, 18(7), 2228;

GNSS/INS Fusion with Virtual Lever-Arm Measurements

Department of Mapping and Geo-Information Engineering, Technion–Israel Institute of Technology, Haifa 3200003, Israel
Author to whom correspondence should be addressed.
Received: 15 June 2018 / Revised: 6 July 2018 / Accepted: 7 July 2018 / Published: 11 July 2018
(This article belongs to the Special Issue GNSS and Fusion with Other Sensors)
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The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publications showed that the lever-arm, defined as the relative position between the INS and aiding sensor, has a strong influence on navigation accuracy. Most research in this field is focused on INS/GNSS fusion with GNSS position or velocity updates while considering various maneuvers types. In this paper, we propose to employ virtual lever-arm (VLA) measurements to improve the accuracy and time to convergence of the observable INS error-states. In particular, we show that VLA measurements improve performance even in stationary conditions. In situations when maneuvering helps to improve state observability, VLA measurements manage to gain additional improvement in accuracy. These results are supported by simulation and field experiments with a vehicle mounted with a GNSS and an INS. View Full-Text
Keywords: inertial navigation system; lever-arm; GNSS inertial navigation system; lever-arm; GNSS

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Borko, A.; Klein, I.; Even-Tzur, G. GNSS/INS Fusion with Virtual Lever-Arm Measurements. Sensors 2018, 18, 2228.

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