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 -