Lightweight GNSS DPE/INS Integration Using Google Smartphone Decimeter Challenge Dataset

Xinyue Lin, Rong Yang, Wei Gao, Jihong Huang, Penggao Yan, Xingqun Zhan

Abstract:	This paper proposes an innovative integration of Direct Position Estimation (DPE) with Inertial Navigation Systems (INS) to enhance positioning accuracy, robustness, and computational efficiency in complex environments using smartphone-grade sensors. While DPE has demonstrated strong resilience in urban and degraded GNSS conditions, its integration with INS remains underexplored, particularly in the context of mobile platforms where computational constraints are critical. The proposed framework adopts a loosely coupled architecture, in which INS-derived prior information constrains the DPE search space, thereby reducing the number of candidate locations and improving real-time performance. Experiments were conducted using real-world GNSS and IMU data from the Google Smartphone Decimeter Challenge. Results show that the integration of inertial information through a loosely coupled framework significantly improves the positioning accuracy of the DPE method and yields smoother, more consistent navigation trajectories. Despite the limitations of consumer-grade IMUs, the system demonstrates improved consistency and robustness compared to standalone DPE.
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:	2003 - 2010
Cite this article:	Lin, Xinyue, Yang, Rong, Gao, Wei, Huang, Jihong, Yan, Penggao, Zhan, Xingqun, "Lightweight GNSS DPE/INS Integration Using Google Smartphone Decimeter Challenge Dataset," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 2003-2010. https://doi.org/10.33012/2025.20448
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