Abstract
GNSS/INS tight integration algorithm has been studied in this paper. The main idea is to get the user’s position by considering the solution of a restricted version of the GNSS optimization problem, in which the classical tripartite is limited to INS measurements. It leads to a linearly bounded least squares problem, which may be solved in the worst case in polynomial time. The efficiency of the algorithm is confirmed by simulations in complex scenarios (multipath and weak signal conditions) and shows improved performance compared to autonomous GNSS AND GNSS/INS Kalman in the same conditions.
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