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Springer Handbook of Global Navigation Satellite Systems pp 811–840Cite as

GNSS/INS Integration

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Part of the book series: Springer Handbooks ((SHB))

Zusammenfassung

This chapter discusses the role of global navigation satellite systems (GlossaryTerm

GNSS

s) and inertial measurements in the estimation of the state vector for a maneuvering system. The chapter considers the main objectives of accuracy, continuity, availability, and integrity; and, the contributions that the different types of sensors make toward achieving these objectives. The chapter includes an example design. Then, the chapter reviews the concepts of loose, tight, and ultratight or deeply coupled systems. Throughout, the advantages, disadvantages, and tradeoffs between alternative approaches are discussed.

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Abbreviations

ARW:

angular random walk

DLL:

delay lock loop

ECEF:

Earth-centered Earth-fixed

EKF:

extended Kalman filter

FOG:

fiber optic gyroscope

GNSS:

global navigation satellite system

GPS:

Global Positioning System

HDOP:

horizontal dilution of precision

IMU:

inertial measurement unit

INS:

inertial navigation system

LIDAR:

light detection and ranging

MAP:

maximum a posteriori

MEMS:

micro-electromechanical system

PDOP:

position dilution of precision

PF:

particle filter

PLL:

phase lock loop

PSD:

power spectral density

RLG:

ring laser gyroscope

SDA:

strapdown algorithm

SLAM:

simultaneous location and mapping

VDOP:

vertical dilution of precision

VRE:

vibration rectification error

VRW:

velocity random walk

WLS:

weighted least-squares

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Author information

Authors and Affiliations

  1. Dept. of Electrical and Computer Engineering, University of California, Riverside, 900 University Avenue, CA 92521, Riverside, USA

    Jay A. Farrell

  2. Navigation and Apps. Programmes, Airbus DS GmbH, Robert-Koch-Str. 1, 82024, Taufkirchen, Germany

    Jan Wendel

Authors
  1. Jay A. Farrell
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  2. Jan Wendel
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Corresponding author

Correspondence to Jay A. Farrell .

Editor information

Editors and Affiliations

  1. Dept. of Spatial Sciences, Curtin University, WA 6845, Perth, Australia

    Peter J.G. Teunissen

  2. Department of Geoscience and Remote Sensing, Delft University of Technology, 2600 GA, Delft, Netherlands

    Peter J.G. Teunissen

  3. German Aerospace Center (DLR), Münchener Str. 20, 82234, Wessling, Germany

    Oliver Montenbruck

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Farrell, J.A., Wendel, J. (2017). GNSS/INS Integration. In: Teunissen, P.J., Montenbruck, O. (eds) Springer Handbook of Global Navigation Satellite Systems. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-42928-1_28

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