Performance Evaluation of Ultra-tight Integration of GPS/Vehicle Sensors for Land Vehicle Navigation

Vehicle positioning systems, due to their cost-sensitive nature, often consist of reduced order low-cost MEMSbased inertial measurement units (IMU) instead of a full six degree of freedom IMUs. A typical vehicle sensor setup is likely to have two horizontal accelerometers and one vertical gyroscope along with individual wheel speed sensors. GPS/Vehicle Sensors integrated systems are typically capable of providing considerable accuracy, availability, and reliability improvements relative to GPS alone.