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Chapter 6, Integration of GNSS and INS, Part 1

By Demoz Gebre-Egziabher, Mark Petovello and David Bevly

This chapter discusses the integration of GNSS with INSs. In addition, Chapter 6 describes the motivation for integrating GNSS with INS and the various architec- tures used for this integration. It also discusses the advantages and disadvantages of these architectures and presents, in some detail, the algorithms used for the integration of GNSS with low-cost inertial sensors. The focus is on low-cost inertial sensors, because these are the sensors that are most readily available to users and developers. This chapter focused on the theory of GNSS and INS integration and the following chapter deals with specific, hand-on examples.