Integration of GNSS with Non-Radio Sensors with Separation of the State Vector for Transport Navigation Tasks

Current paper describes a method for loosely coupled complexing algorithm of GNSS receiver outputs with non-radio sensors: an accelerometer, a gyroscope, a speedometer and a steering angle measurement unit. The proposed method is simpler than the classical approach for synthesizing the complexing algorithm in the form of a single vector locked loop by dividing the state vector into separate binded locked loops.