A Low Cost INS/GPS Solution Comparison for Automotive Mass Market Applications

Marco Rao, Simone Savasta, Emanuela Falletti, Fabrizio Dominici, Gianluca Marucco, Antonio Defina

Abstract:	This paper explores the possibilities of integrating a low cost Inertial Measurement Unit (IMU) with a commercialgrade GNSS receiver for mass-market applications such as common vehicular driving assistance. The performance of such integration are investigated for two integration schemes: the loosely-coupled and tightly-coupled integration. The two different aiding strategies are used to combine a consumer IMU with a Commercial Off the Shelf (COTS) receiver, providing a low-cost integration solution. This paper shows as integrations that exploits a low cost IMU can be sufficient to highlight differences between loose and tight approaches using real data. The procedure to obtain valuable comparing outputs is described through the implementation of the analyzed INS/GNSS integrations and by an useful method to characterize the IMU error statistic. The test-enabling platform employed for this investigation is constituted by the SAT-SURF & SAT-SURFER, an HW/SW development kit that can help the realization of low-cost complex architectures and dramatically speed-up the execution of significant test campaigns, by easily resolving problems such as data synchronization, time stamping, data storage for post processing analysis.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	1 - 11
Cite this article:	Rao, Marco, Savasta, Simone, Falletti, Emanuela, Dominici, Fabrizio, Marucco, Gianluca, Defina, Antonio, "A Low Cost INS/GPS Solution Comparison for Automotive Mass Market Applications," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 1-11.
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