1.
Sensors (Basel)
; 12(11): 15983-6007, 2012 Nov 20.
Article
in English
| MEDLINE
| ID: mdl-23202241
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.