title: Performance analysis of constrained loosely coupled GPS/INS integration solutions.
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.
authors.affiliation: Istituto Superiore Mario Boella, Torino, Italy. falco@ismb.it
authors.forename: Gianluca
authors.initials: G
authors.lastname: Falco
authors.forename: Garry A
authors.initials: GA
authors.lastname: Einicke
authors.forename: John T
authors.initials: JT
authors.lastname: Malos
authors.forename: Fabio
authors.initials: F
authors.lastname: Dovis