TY - JOUR
T1 - Benefits of Combined GPS/GLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation
JF - Sensors
Y1 - 2012
A1 - ANGRISANO, A
A1 - PETOVELLO, M
A1 - PUGLIANO, G
AB -
The integration of Global Navigation Satellite Systems (GNSS) with Inertial
Navigation Systems (INS) has been very actively researched for many years due to the
complementary nature of the two systems. In particular, during the last few years the
integration with micro-electromechanical system (MEMS) inertial measurement units
(IMUs) has been investigated. In fact, recent advances in MEMS technology have made
possible the development of a new generation of low cost inertial sensors characterized by
small size and light weight, which represents an attractive option for mass-market
applications such as vehicular and pedestrian navigation. However, whereas there has been
much interest in the integration of GPS with a MEMS-based INS, few research studies
have been conducted on expanding this application to the revitalized GLONASS system.
This paper looks at the benefits of adding GLONASS to existing GPS/INS(MEMS)
systems using loose and tight integration strategies. The relative benefits of various
constraints are also assessed. Results show that when satellite visibility is poor
(approximately 50% solution availability) the benefits of GLONASS are only seen with
tight integration algorithms. For more benign environments, a loosely coupled
GPS/GLONASS/INS system offers performance comparable to that of a tightly coupled
GPS/INS system, but with reduced complexity and development time.
VL - 12
UR - http://www.mdpi.com/1424-8220/12/4/5134
IS - 4
ER -