State-Space Measurement Update for GNSS/INS Integrated Navigation

<div>Attitude errors of using GNSS pseudoranges for integration when different models are used. (A, loosely coupled with empirical variances; B, loosely coupled with variances from GNSS SPP; C, loosely coupled with variance from GNSS SPP neglecting the covariance; D, tightly coupled with GNSS pseudoranges’ variances).</div>

Mathematical Problems in Engineering

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Figure 4

Figure 4: State-Space Measurement Update for GNSS/INS Integrated Navigation 