A low-cost GPS/INS integration methodology based on DGPM during GPS outages

DGPM is proposed to solve the positioning problems during the GPS outages. When the GPS signal is available, the integrated system works under GPS/INS loosely-coupled mode. And the DGPM stores the GPS position information. Once the GPS data fails, the well trained module will continuously provide pseudo-GPS position data to aid the pure INS. Field test data was collected to evaluate the performance of the DGPM. It can been seen that, during the 20 s GPS outages, the proposed DGPM is much better than the pure INS mode.