Evaluation on loosely and tightly coupled GNSS/INS vehicle navigation system

This paper focuses on GNSS and Inertial Navigation System (INS) integration system based on the loosely coupled (LC) and tightly coupled (TC) schemes. This paper describes the system architechture of two systems and presents the mathematical derivation. In order to evaluate the system performance of the two schemes, a real field experiment was carried in the campus of Beijing Jiaotong University. The experimental results show that the positioning performance is able to verify the theoretical analysis.