Benefits of Combined GPS/GLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation

Abstract

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.

Estimation course angle for UAV based on GPS and INS data

“…W tym przypadku zakłada się, iż układ wewnętrzny bezzałogowego statku powietrznego pokrywa się z układem sensora IMU [7]. W ten sposób możliwe jest wyznaczenie różnicy wartości kursu z rozwiązania GPS i INS, jak poniżej [1]:…”

A novel GNSS based V2V cooperative localization to exclude multipath effect using consistency checks

“…Different cooperative localization approaches are also being developed to optimize the localization accuracy by available shared measurements, such as weighted cooperation [8], least square approach [14] and hypothesis based probability density filter [15]. Moreover, extra constraints from prior knowledge [16], vehicular motion model [17] or map matching [18] is employed within the cooperative localization to enhance the positioning accuracy. However, unlike other positioning error source, the multipath effect and NLOS reception are unable to be corrected by differential techniques [19].…”

GPS & GLONASS Mass-Market Receivers: Positioning Performances and Peculiarities

“…GPS chips are produced in millions of copies and costs only a few euros. Very often these receivers are assembled in ‘evaluation kits’ (composed of a receiver and a patch antenna) with a cost of about €200–300 and more often they are coupled with inertial sensors [4–6]. All these instruments are able to track the GPS signals, but a few of them are also able to track the GLONASS constellation [7,8].…”