INS-Assisted Multi-Constellation GNSS: Experimental Insights from Real and Quasi-Real Jamming Tests

Malek Karaim, Aisha Elsayem, Eslam Mounier, Haidy Elghamrawy, Aboelmagd Noureldin

Peer Reviewed

Abstract:	Accurate and resilient navigation is essential for safety-critical applications, particularly in autonomous ground and aerial vehicles. However, Global Navigation Satellite System (GNSS) signals are received at very low power levels, making them highly susceptible to jamming. This can significantly degrade positioning accuracy and, depending on the jamming power and proximity to the source, may even lead to a complete signal outage. This study assesses the effectiveness of combining multifrequency, multi-constellation GNSS with Inertial Navigation Systems (INS) in maintaining resilient navigation performance under severe jamming conditions. A comprehensive experimental study was conducted in a controlled anechoic chamber using a Safran GSG-8 GNSS simulator to simulate a dynamic flight trajectory, along with a real jammer. Navigation performance was evaluated under various configurations, including single-versus dual-frequency GPS, GPS-only versus combined GPS/Galileo, and GNSS both with and without INS integration. A loosely coupled GNSS/INS architecture based on an Extended Kalman Filter (EKF) was employed, with inertial data simulated using an in-house developed tool. The results show that dual-frequency GNSS significantly improves positioning accuracy compared to single-frequency setups, while multi-constellation configurations further enhance robustness through improved signal availability and geometry. Notably, GNSS/INS integration ensures continuous and accurate navigation even during GNSS outages, maintaining horizontal errors as low as 0.65 m and velocity errors under 0.05 m/s. Estimated jamming durations, inferred from carrier-to-noise ratio trends, also decrease substantially when using multi-constellation GNSS. This study provides a quasi-real experimental validation of these jamming countermeasure approaches, offering actionable insights for enhancing navigation reliability in contested environments. The findings are particularly relevant to autonomous systems operating in areas prone to signal interference.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	1806 - 1816
Cite this article:	Karaim, Malek, Elsayem, Aisha, Mounier, Eslam, Elghamrawy, Haidy, Noureldin, Aboelmagd, "INS-Assisted Multi-Constellation GNSS: Experimental Insights from Real and Quasi-Real Jamming Tests," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 1806-1816. https://doi.org/10.33012/2025.20385
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