{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T02:24:31Z","timestamp":1773800671632,"version":"3.50.1"},"reference-count":14,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2013,8,15]],"date-time":"2013-08-15T00:00:00Z","timestamp":1376524800000},"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 an Inertial Navigation System (INS) and the Global Positioning System (GPS) is common in mobile mapping and navigation applications to seamlessly determine the position, velocity, and orientation of the mobile platform. In most INS\/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed  of biases, scale factors and drift. However, the GPS receiver may produce abnormal  pseudo-range errors mainly caused by ionospheric delay, tropospheric delay and the multipath effect. These errors degrade the overall position accuracy of an integrated system that uses conventional INS\/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes. Conventional tightly coupled INS\/GPS integration schemes apply the Klobuchar model and the Hopfield model to reduce pseudo-range delays caused by ionospheric delay and tropospheric delay, respectively, but do not address the multipath problem. However, the multipath effect (from reflected GPS signals) affects the position error far more significantly in a consumer-grade GPS receiver than in an expensive, geodetic-grade GPS receiver. To avoid this problem, a new integrated INS\/GPS architecture is proposed. The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively. To verify the effectiveness of the proposed method, field tests with various scenarios are conducted and the results are compared with a reliable reference system.<\/jats:p>","DOI":"10.3390\/s130810599","type":"journal-article","created":{"date-parts":[[2013,8,16]],"date-time":"2013-08-16T02:05:47Z","timestamp":1376618747000},"page":"10599-10622","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":98,"title":["The Performance Analysis of a Real-Time Integrated  INS\/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination"],"prefix":"10.3390","volume":"13","author":[{"given":"Kai-Wei","family":"Chiang","sequence":"first","affiliation":[{"name":"Department of Geomatics, National Cheng Kung University, 1 University Road, Tainan 701, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thanh","family":"Duong","sequence":"additional","affiliation":[{"name":"Department of Geomatics, National Cheng Kung University, 1 University Road, Tainan 701, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7421-2362","authenticated-orcid":false,"given":"Jhen-Kai","family":"Liao","sequence":"additional","affiliation":[{"name":"Department of Geomatics, National Cheng Kung University, 1 University Road, Tainan 701, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,8,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Titterton, D.H., and Weston, J.L. (2004). Strapdown Inertial Navigation Technology, American Institute of Aeronautics and Astronautics. [2nd ed.].","DOI":"10.1049\/PBRA017E"},{"key":"ref_2","unstructured":"Rogers, R.M. (2007). Applied Mathematics in Integrated Navigation Systems, American Institute of Aeronautics and Astronautics. [3rd ed.]."},{"key":"ref_3","unstructured":"De Agostino, M., Manzino, A.M., and Piras, M. (May, January 4\u2013). Performances Comparison of Different MEMS-based IMUs. Palm Springs, CA, USA."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"627","DOI":"10.1016\/j.ast.2004.07.003","article-title":"Tightly coupled GPS\/INS integration for missile application","volume":"8","author":"Wendel","year":"2004","journal-title":"Aerosp. Sci. 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Res."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"59","DOI":"10.4218\/etrij.08.0106.0306","article-title":"Time synchronization error and calibration in integrated GPS\/INS systems","volume":"30","author":"Ding","year":"2008","journal-title":"ETRI J."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/8\/10599\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:48:40Z","timestamp":1760219320000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/8\/10599"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,8,15]]},"references-count":14,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2013,8]]}},"alternative-id":["s130810599"],"URL":"https:\/\/doi.org\/10.3390\/s130810599","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,8,15]]}}}