Quasi-Tightly-Coupled GNSS-INS Integration with a GNSS Kalman Filter

Bruno Scherzinger

Peer Reviewed

Abstract:	Quasi-tightly-coupled (QTC) GNSS-INS integration is a method of loosely-coupled integration that has the salient characteristics of a tightly-coupled integration. This method is intended for the integration of an existing GNSS navigation engine into a GNSS-INS closed-loop configuration with little or no modification of the GNSS navigation engine. The method of integration uses the range measurement model matrix typically used to compute dilutions of precision (DOP) to identify the observable subspace in the time-space frame generated by the available satellites and project the loosely-coupled INS-GNSS Kalman filter position measurement into this subspace.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	2355 - 2361
Cite this article:	Scherzinger, Bruno, "Quasi-Tightly-Coupled GNSS-INS Integration with a GNSS Kalman Filter," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2355-2361.
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