{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T06:51:48Z","timestamp":1778223108052,"version":"3.51.4"},"reference-count":28,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2012,4,19]],"date-time":"2012-04-19T00:00:00Z","timestamp":1334793600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) has been very actively researched for many years due to the complementary nature of the two systems. In particular, during the last few years the integration with micro-electromechanical system (MEMS) inertial measurement units (IMUs) has been investigated. In fact, recent advances in MEMS technology have made possible the development of a new generation of low cost inertial sensors characterized by small size and light weight, which represents an attractive option for mass-market applications such as vehicular and pedestrian navigation. However, whereas there has been much interest in the integration of GPS with a MEMS-based INS, few research studies have been conducted on expanding this application to the revitalized GLONASS system. This paper looks at the benefits of adding GLONASS to existing GPS\/INS(MEMS) systems using loose and tight integration strategies. The relative benefits of various constraints are also assessed. Results show that when satellite visibility is poor (approximately 50% solution availability) the benefits of GLONASS are only seen with tight integration algorithms. For more benign environments, a loosely coupled GPS\/GLONASS\/INS system offers performance comparable to that of a tightly coupled GPS\/INS system, but with reduced complexity and development time.<\/jats:p>","DOI":"10.3390\/s120405134","type":"journal-article","created":{"date-parts":[[2012,4,19]],"date-time":"2012-04-19T11:01:34Z","timestamp":1334833294000},"page":"5134-5158","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":50,"title":["Benefits of Combined GPS\/GLONASS with Low-Cost MEMS IMUs for Vehicular Urban Navigation"],"prefix":"10.3390","volume":"12","author":[{"given":"Antonio","family":"Angrisano","sequence":"first","affiliation":[{"name":"Department of Applied Sciences, Parthenope University of Naples, Centro Direzionale di Napoli, Isola C4, 80143 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark","family":"Petovello","sequence":"additional","affiliation":[{"name":"Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Giovanni","family":"Pugliano","sequence":"additional","affiliation":[{"name":"Department of Technology, Parthenope University of Naples, Centro Direzionale di Napoli, Isola C4, 80143 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,4,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"671","DOI":"10.1017\/S0373463309990154","article-title":"A Combined GPS\/GLONASS navigation algorithm for use with limited satellite visibility","volume":"62","author":"Cai","year":"2009","journal-title":"J. Navig."},{"key":"ref_2","unstructured":"Ong, R., Petovello, M.G., and Lachapelle, G. (, January January). Reliability of ambiguity resolution using GPS and GLONASS. San Diego, CA, USA."},{"key":"ref_3","unstructured":"Uijt de Haag, M., Gebre-Egziabher, D., and Petovello, M.G. (2010). ION GPS Redbook Vol. VII Integrated Systems, The Institute of Navigation."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1061\/(ASCE)0733-9453(2010)136:1(13)","article-title":"Extended receiver autonomous integrity monitoring (eRAIM) for GNSS\/INS integration","volume":"136","author":"Hewitson","year":"2010","journal-title":"J. Surv. Eng."},{"key":"ref_5","unstructured":"Godha, S. (2006). Performance Evaluation of a Low Cost DGPS MEMS-Based IMU Integrated with DGPS for Land Vehicle Navigation Application. [M.S. Thesis, University of Calgary]."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/s10291-006-0050-8","article-title":"GPS\/MEMS INS integrated system for navigation in urban areas","volume":"11","author":"Godha","year":"2007","journal-title":"GPS Solut."},{"key":"ref_7","unstructured":"Nayak, R.A. (2000). Reliable and Continuous Urban Navigation Using Multiple GPS Antennas and a Low Cost IMU. [M.S. Thesis, University of Calgary]."},{"key":"ref_8","unstructured":"Shin, E. (2005). Estimation Techniques for Low-Cost Inertial Navigation. [Ph.D. Thesis., University of Calgary]."},{"key":"ref_9","unstructured":"Mezentsev, O. (2005). Sensor Aiding of HSGPS Pedestrian Navigation. [Ph.D. Thesis., University of Calgary]."},{"key":"ref_10","unstructured":"Abdel-Hamid, W. (2005). Accuracy Enhancement of Integrated MEMS-IMU\/GPS Systems for Land Vehicular Navigation Applications. [Ph.D. Thesis, University of Calgary]."},{"key":"ref_11","unstructured":"Syed, Z., Aggarwal, P., Yang, Y., and El-Sheimy, N. (, January May). Improved vehicle navigation using aiding with tightly coupled integration. Singapore."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1017\/S0373463309990282","article-title":"Land vehicle navigation with the integration of GPS and reduced INS performance improvement with velocity aiding","volume":"63","author":"Han","year":"2010","journal-title":"J. Navig."},{"key":"ref_13","unstructured":"Lechner, W., Jeske, R., Vieweg, S., and Klyushnikov, S. (, January June). Integration of GPS, GLONASS and INS on a raw data basis\u2014First results of an experimental study. Dayton, OH, USA."},{"key":"ref_14","unstructured":"Rinnan, A., Sigmond, M.E., Robertsen, A., and Gundersen, N. (, January October). Qualification of a hybrid GNSS and IMU solution. Huston, TX, USA."},{"key":"ref_15","unstructured":"Sukkarieh, S. (2000). Low Cost, High Integrity, Aided Inertial Navigation Systems for Autonomous Land Vehicles. [Ph.D. Thesis, University of Sydney]."},{"key":"ref_16","unstructured":"Shin, E. (2001). Accuracy Improvement of Low Cost INS\/GPS for Land Application. [M.S. Thesis, University of Calgary]."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1002\/j.2161-4296.2010.tb01765.x","article-title":"Pseudo-measurements as aiding to INS during GPS outages","volume":"57","author":"Klein","year":"2010","journal-title":"Navigation"},{"key":"ref_18","unstructured":"Angrisano, A., Petovello, M.G., and Pugliano, G. (, January September). GNSS\/INS integration in vehicular urban navigation. Portland, OR, USA."},{"key":"ref_19","unstructured":"Angrisano, A. (2010). GNSS\/INS Integration Methods. [Ph.D. Thesis, Parthenope University of Naples]."},{"key":"ref_20","unstructured":"Vander Kuylen, L., Leyssens, J., and van Meerbergen, G. (, January May). Using AsteRxi GNSS\/MEMS IMU receiver in a container positioning system. Indian Wells, CA, USA."},{"key":"ref_21","unstructured":"Kaplan, E.D., and Hegarty, C.J. (2007). Understanding GPS: Principles and Applications, Artech House. [2nd ed.]."},{"key":"ref_22","unstructured":"Misra, P., Pratt, M., and Burke, B. (, January September). Augmentation of GPS\/LAAS with GLONASS: Performance assessment. Nashville, TN, USA."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/s12518-011-0046-0","article-title":"A stochastic sigma model for GLONASS satellite pseudorange","volume":"3","author":"Gaglione","year":"2011","journal-title":"Appl. Geomat."},{"key":"ref_24","unstructured":"Mitrikas, V.V., Revnivykh, S.G., and Bykhanov, E.V. (, January September). WGS84\/PZ90 Transformation parameters determination based on laser and ephemeris long-term GLONASS orbital data processing. Nashville, TN, USA."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Chatfield, A. (1997). Fundamentals of High Accuracy Inertial Navigation, AIAA Inc.","DOI":"10.2514\/4.866463"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Jekeli, C. (2000). Inertial Navigation Systems with Geodetic Applications, Walter de Gruyter.","DOI":"10.1515\/9783110800234"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1002\/j.2161-4296.2004.tb00337.x","article-title":"Benefits of using a tactical-grade IMU for high-accuracy positioning","volume":"51","author":"Petovello","year":"2004","journal-title":"Navigation"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Parkinson, B., and Spilker, J.J. (1996). Global Positioning System: Theory and Applications, AIAA Inc.","DOI":"10.2514\/4.866395"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/4\/5134\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:49:53Z","timestamp":1760219393000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/4\/5134"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4,19]]},"references-count":28,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2012,4]]}},"alternative-id":["s120405134"],"URL":"https:\/\/doi.org\/10.3390\/s120405134","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,4,19]]}}}