A Direct Performance Comparison Between Loosely Coupled and Tightly Coupled GPS/INS Integration Techniques
1995
Because of security concerns and systems integration
complexities related to the implementation of a tightly coupled
GPSllNS integration, a study was conducted to determine just
how much of a performance advantage the tightly coupled
technique offers over the less controversial loosely coupled (or
cascaded) integration. The results of this study were:
l Using four ideally positioned GPS satellites, loosely and
tightly coupled performance were virtually identical.
l Under degraded GPS satellite conditions, loosely coupled
performance was significantly worse than tightly coupled
performance.
Further evaluation showed that this performance degradation
was not only caused by the “cascaded filtering” inherent in the
loosely coupled technique, but was also due to the fact that the
GPS internal Kalman filter did not model the INS gyro and
accelerometer errors that are modeled in the INS Kalman filter.
When the GPS filter model was expanded to include these
states, the resulting loosely coupled performance was
comparable to the tight/y coupled performance under all
conditions.
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