Benefits of a Tightly-coupled GNSS/INS Real-Time Solution in Urban Scenarios and Harsh Environments

Gianluca Falco, Gianluca Marucco, Mario Nicola, Marco Pini

Peer Reviewed

Abstract:	The paper deals with the development of a Robust Position Unit (RPU) based on the real-time implementation of an advanced positioning algorithm. The RPU uses a tightly-coupled technique between a mass market single frequency GNSS chipset with a low cost Inertial Measurement Unit (IMU) based on Micro Electro-Mechanical Systems and an odometer. The tight integration algorithm has been obtained through the design of a complex Extended Kalman Filter (EKF). Its performance has been verified running the designed real-time algorithm in different challenging environments: an urban scenario characterized by narrow streets, few satellites in view and tree-lined avenues. A second harsh environment is represented by a mountain area where the vehicle has driven through long tunnels, overpasses and sharp road bends. The tests showed how a tight integration algorithm, designed by using raw data from only low-cost sensors, can provide real advantages at a price of careful customizations and adaptations that take into account the particular use and environment.
Published in:	Proceedings of the 2017 International Technical Meeting of The Institute of Navigation January 30 - 2, 2017 Hyatt Regency Monterey Monterey, California
Pages:	1344 - 1359
Cite this article:	Falco, Gianluca, Marucco, Gianluca, Nicola, Mario, Pini, Marco, "Benefits of a Tightly-coupled GNSS/INS Real-Time Solution in Urban Scenarios and Harsh Environments," Proceedings of the 2017 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2017, pp. 1344-1359. https://doi.org/10.33012/2017.14940
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