Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

Sensors

Gianluca Falco¹  Garry A. Einicke²  John T. Malos² 

[1] Istituto Superiore Mario Boella, Via P.C. Boggio 61, 10138 Torino, Italy;CSIRO Exploration and Mining, Pullenvale, QLD 4069, Australia; E-Mails:

关键词: loosely coupled integration;    Kalman filter;    constraints;    GPS outages;   

DOI  :  10.3390/s121115983

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland.