Two Case Studies: Full IMU/GPS and 3D RISS/GPS Integration

In Chap. 8 the theories of the loosely coupled and tightly coupled integration schemes of a full IMU with GPS were presented. In Chap. 9 the integration of a reduced inertial sensor system (RISS) with GPS was detailed, along with its various advantages. In this chapter we will look at the performance of these integration techniques using real inertial measurements and GPS data collected during road test trajectories.