This paper theoretically derives the equivalence conditions for the loosely and tightly coupled GNSS/INS integration algorithms.\nFirstly, the equivalence is proved when using single epoch GNSS measurements, which means the GNSS processor provides\nstandalone solution. Then, the equivalence proof is further extended for the filtering solutions, which are usually applied for\ndifferential GNSS and precise point positioning. Based on these, different state and measurement models for GNSS/INS integration\nnavigation are summarized, and natural differences among these models are discussed. This indicates that once the same\nmeasurement and predict information are used, the integration would be equivalent no matter what kind of coupling schemes are\nused. A flight dataset with GNSS and tactical IMU data is used to evaluate the equivalence and discrepancies among four different\nmeasurement models, and the results confirm the theoretical derivations.
Loading....