Abstract
GNSS receivers are designed to provide an estimate of three fundamental components for navigation: position, velocity and time. However, GNSS signals can be highly degraded or denied in some challenging environments as urban canyons, forests, mines and indoor environments. In addition to these critical scenarios, no orientation (or attitude) information is provided by standard receivers. Thus, in order to enhance robustness and performance of navigation solutions, it is possible to rely on integration with GNSS of measurements coming from other sensors, such as inertial sensors, barometers, magnetometers, cameras and other systems that can be used for positioning. The objective is to go towards seamless positioning, integrating measurements adaptively based on availability and reliability of the different systems.
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