One of the simplest ways to integrate a dead reckoning (DR) navigation system with a GNSS receiver is the so-called loose integration. Loosely coupled DR/GNSS systems contain two Kalman filters, i.e., the internal GNSS receiver filter and an external filter that integrates data from the internal filter and the DR system. The simplicity of loose integration stems from the fact that the GNSS receiver contains a Kalman filter, and it is only necessary to develop an external filter. This paper presents the operating principle of the DR system and its components, as well as the positioning principle in the GNSS system. The dynamics and observation model of the DR/GNSS system, which form the basis for developing the external Kalman filter, are provided, and the algorithm of this filter is discussed. The paper includes the results of simulation studies of the loosely coupled DR/GNSS system along with their discussion.In land vehicle positioning, dead reckoning (DR) navigation [2], positioning using radio systems, mainly including Global Navigation Satellite Systems (GNSS) [5], and the Map Matching Technique (MMT) [2] are most commonly used. (…)
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Source: Logistyka Magazine