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Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios
Open accessAbstract
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.
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Cited by
Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter
Wen, W., Pfeifer, T., Bai, X., & Hsu, L. (2021) · NAVIGATION · doi:10.1002/navi.421 · Cited by 259
A Commute in Data: The comma2k19 Dataset
Schafer, H., Santana, E., Haden, A., & Biasini, R. (2018) · arXiv · doi:10.48550/arxiv.1812.05752 · Cited by 48
Metadata
- Authors
- Falco, G., Pini, M., & Marucco, G.
- Venue
- Sensors
- Publisher
- MDPI AG
- Published
- 2017-01-29
- Volume
- 17
- Issue
- 2
- Pages
- 255
- ISSN
- 1424-8220 (ISSN-L)
- OpenAlex
- W2580246494
- Cited by
- 246
- References
- 0
- FWCI
- 17.50
- Type
- journal article
- Language
- en
- Open access
- gold
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- Falco, G., Pini, M., & Marucco, G. (2017). Loose and Tight GNSS/INS Integrations: Comparison of Performance Assessed in Real Urban Scenarios. Sensors. https://doi.org/10.3390/s17020255
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