Abstract
Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but in several types of environment, the performance of standalone receivers is degraded. Although many works show the benefits of the integration between GNSS and Inertial Navigation Systems (INSs), tightly-coupled architectures are mainly implemented in professional devices and are based on high-grade Inertial Measurement Units (IMUs). This paper investigates the performance improvements enabled by the tight integration, using low-cost sensors and a mass-market GNSS receiver. Performance is assessed through a series of tests carried out in real urban scenarios and is compared against commercial modules, operating in standalone mode or featuring loosely-coupled integrations. The paper describes the developed tight-integration algorithms with a terse mathematical model and assesses their efficacy from a practical perspective.
Highlights
During the last years, there has been an increasing demand for accurate estimate of users’ position in many systems and applications, such as driving assistance systems and autonomous vehicles.In addition to enhanced performance in different types of operational environments, developers seek innovative strategies for reliable systems at affordable costs [1,2,3]
A zoomed view of this area is reported in Figure 8, where the trajectories recorded by the devices are reported on the map with different colors
The number of satellites used by the multi-constellation standalone receiver was 16, while all other devices, configured to process only Global Positioning System (GPS) signals, received 10 satellites
Summary
In addition to enhanced performance in different types of operational environments, developers seek innovative strategies for reliable systems at affordable costs [1,2,3]. The urban environment poses some of the most severe challenges to Global Navigation Satellite Systems (GNSSs) that remain the principal mean of positioning for outdoor navigation. Multiple constellations improve the satellites’ visibility [4], the performance of standalone receivers in urban settings can be enhanced following two main strategies. The position accuracy of standalone receivers can be improved with innovative signal processing, such as high sensitivity tracking loops [10], Cooperative Positioning [11], or 3-Dimensional (3-D) building models to predict satellite visibility, as proposed in [12,13]
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