GNSS/INS Integration

Abstract

This chapter discusses the role of global navigation satellite systems (GNSSglobal navigation satellite system (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.