State-Space Measurement Update for GNSS/INS Integrated Navigation

Table 4

Four measurement models for integration with GNSS pseudorange measurements (unit: m for positions and pseudoranges and m/s for velocities).

Model	Schemes	Integration measurements	Measurement variance for integration
A	Loosely	Position and velocity
B	Loosely	Position and velocity
C	Loosely	Position and velocity
D	Tightly	Corrected pseudoranges