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Performance analysis of constrained loosely coupled GPS/INS integration solutions
Gianluca Falco1, Garry A Einicke, John T Malos
1Istituto Superiore Mario Boella, Torino, Italy. falco@ismb.it
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.
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