Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation

Table 13

Impacts of the modified navigation algorithm for low-end GPS/INS system.

	The loss of navigation accuracy	The reduction of computation load
Modified algorithm only	0.3%	70%
Downsampling only	5%	85%*
Modified algorithm + downsampling	8%	95%

*: downsample IMU data rate from 100 Hz to 10 Hz, and consider computation loads of both the INS mechanization and the Kalman filtering.