A Comparison of Loose and Tight GPS/INS Integration Using Real INS and GPS Data.

An extended Kalman filter EKE is used to combine the information obtained from a Global Positioning System GPS receiver and an Inertial Navigation Sys tem INS to provide a navigation solution. This research compares the results of a tightly-coupled GPSINS integrated system with a loosely-coupled integrated system, using real world data. A fair comparison is accomplished by using the same sets of data, and keeping the integration structures as close as possible. Both integrations are feedforward and have the same error states in the navigation Kalman filters. Differences between the two, such as navigation solutions and tuning values, are shown in the research.