Conferences: Tight GNSS/INS Integration as a Constrained Least-Squares problem
D. Bernal Casas, P. Closas Gómez, E. Calvo Page and J. Fernández Rubio

Abstract

In this paper, we study a new GNSS/INS tight integration algorithm. The underlying idea is to obtain user's position as the solution to a constrained version of the GNSS optimization problem, where classical trilateration is constrained by INS measurements. This leads to a linearly constrained least-squares problem that can be efficiently solved in worst-case polynomial time. The performance of the algorithm has been validated through simulations under challenging scenarios (namely, multipath and weak signal conditions), showing an improved performance w.r.t. GNSS stand-alone and GNSS/INS Kalman Filter solutions under the same conditions.




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Signal Processing and Communications group
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