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Custom integration of GPS with Inertial Navigation Systems (INS)

leverages the high-accuracy, long-term stability of GNSS with the high-rate, autonomous nature of inertial sensors (IMUs) to create robust navigation . Techniques include loose, tight, or ultra-tight coupling using Kalman Filters to calibrate sensor errors, providing accurate position, velocity, and orientation for UAVs, vehicles, and robotics.

Key Aspects of Custom GPS/INS Integration

Integration Architectures:
- Loose Coupling : GPS and INS operate independently; their solutions are combined. Easier to implement but less accurate during partial satellite outages.
- Tight Coupling : Raw GPS measurements (pseudorange/pseudorange rate) are integrated with inertial data in a Kalman Filter, enhancing performance when fewer than four satellites are available.
- Deep/Ultra-Tight Coupling : The INS helps the GPS receiver track signals, providing superior jamming resistance.
Hardware and Components:
- Sensors: High-performance systems often use Fiber Optic Gyros (FOG) or MEMS-based IMUs.
- GNSS Receivers: Multi-constellation, multi-frequency receivers (GPS, GLONASS, Galileo, BeiDou) supporting Real-Time Kinematic (RTK) for centimeter-level accuracy.
- Interfaces: Systems utilize standard communication protocols like CAN bus, Ethernet, RS-232, or RS-422 for data transmission.
Customization and Implementation:
- Software/Algorithms: Custom Kalman filters, including Extended Kalman Filters (EKF) or machine learning approaches (e.g., neural networks), are used to model non-linear sensor errors.
- Application-Specific Tuning: Tailoring the fusion algorithm for specific dynamics (e.g., drones vs. marine vessels) and environmental constraints.
- Data Synchronization: Ensuring precise timestamping (often via FPGA) between high-rate IMU data and lower-rate GPS data.
Performance Benefits:
- Bridging Outages: INS provides accurate navigation during GNSS signal loss (jamming, urban canyons, tunnels).
- Calibration: GPS continuously calibrates INS gyro and accelerometer biases in real-time.

For many, using pre-integrated, "all-in-one" OEM modules (like those from Inertial Labs or Advanced Navigation ) offers a faster route to deployment, while custom-built systems allow for maximum control over proprietary hardware components.

Inertial Labs launches new generation of INS, IMUs - GPS World
Apr 8, 2021 — Inertial Labs launches new generation of INS, IMUs * Inertial Labs has released a new generation of GPS-aided inertial navigation ...

GPS World
INS/GPS Integration Architectures - DTIC

apps.dtic.mil
Inertial Labs Launches GPS-Aided Inertial Navigation System
Jun 18, 2024 — Inertial Labs has introduced its latest product, the INS-FI, a GPS-aided Inertial Navigation System designed for enhanced performa...

Inside GNSS

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Integrating Inertial Navigation Systems: What to Know?

Inertial Labs

https://inertiallabs.com › Resources › White Papers

Inertial Labs

https://inertiallabs.com › Resources › White Papers

Nov 14, 2024 — Easy integration allows users to quickly connect INS to other systems such as GNSS, laser scanners, or Unmanned Aerial Vehicles (UAVs), reducing ... Read more

Integrating Inertial Navigation Systems: What To Know

Advanced Navigation

https://www.advancednavigation.com › Tech Articles

Advanced Navigation

https://www.advancednavigation.com › Tech Articles

Jan 3, 2024 — A system that is easy to integrate provides numerous advantages, including reduced setup time, lower integration costs, hassle-free maintenance and quicker ... Read more

Inertial Simulators for INS Integration & Testing

CAST Navigation

https://castnav.com › inertial-capabilities

CAST Navigation

https://castnav.com › inertial-capabilities

Inertial simulators from CAST Navigation provide dynamic INS and GNSS signals needed for testing or integrating embedded GPS inertial navigation systems .

GPS? IMU? INS? What on Earth even is that?

Obsidian Motorsport

https://obsidianeng.com › 2020/12/23 › gps-imu-ins-w...

Obsidian Motorsport

https://obsidianeng.com › 2020/12/23 › gps-imu-ins-w...

Dec 23, 2020 — An Inertial Navigation System ( INS ), combines these two sensors and uses the global accuracy of a GNSS system and the speed of an IMU! These INS ... Read more

GPS/INS INTEGRATION - Infoscience

EPFL Infoscience

https://infoscience.epfl.ch › bitstreams › content

EPFL Infoscience

https://infoscience.epfl.ch › bitstreams › content

PDF

by J Skaloud Cited by 17 — This paper presents a new approach to GPS/INS data acquisition and synchronization for the most popular sensors adopted by the mapping industry. Read more

seamless Navigation through gPs Outages

Inside GNSS

https://www.insidegnss.com › julyaug08-yongli

Inside GNSS

https://www.insidegnss.com › julyaug08-yongli

PDF

figure 7 presents a flowchart of the integration algorithm. The GPS / INS system works in one of three modes, ZUPT (zero velocity update), GPSAID , or VHC. Read more

Discussions and forums

How to make a INS (Inertial Navigation system) for use in GPS denied ...

Reddit ·

r/diyelectronics

· 20+ comments

· 1 year ago

How to make a INS (Inertial Navigation system) for use in GPS denied ...

Reddit ·

r/diyelectronics

· 20+ comments

· 1 year ago

I doubt it. From Wikipedia: Even the best accelerometers, with a standard error of 10 ... More

The kind of accuracy you are looking for can be found in fiber optic INU that measure light ... More

kalman filter - Solution for INS and GPS integration

Robotics Stack Exchange ·

1 answer

· 10 years ago

kalman filter - Solution for INS and GPS integration

Robotics Stack Exchange ·

1 answer

· 10 years ago

I was in exactly the same boat with my master's thesis; wave-based imaging (sonar and radar) seemed so common that all the papers I read assumed you ... More

For sensor fusion between GPS and INS what are the factors to ...

ResearchGate ·

4 years ago

For sensor fusion between GPS and INS what are the factors to ...

ResearchGate ·

4 years ago

This is a document related to INS & GPS integration. ... Intelligent fault detection and fusion for INS/GPS navigation system. Conference&... More

Inertial Navigation System -OB.OMG.INS

MilSpecWiring.com

https://www.milspecwiring.com › ... › Position › GPS

MilSpecWiring.com

https://www.milspecwiring.com › ... › Position › GPS

The main objective with this sensor is to put cutting edge, high performance sensor fusion algorithms into the hands of motorsport integrators and motorsport ...

$5,050.00 In stock Free delivery

Are there off the shelf solutions for GPS+INS ...

Robotics Stack Exchange

https://robotics.stackexchange.com › questions › are-the...

Robotics Stack Exchange

https://robotics.stackexchange.com › questions › are-the...

Aug 6, 2015 — There are many GPS+INS fusion units available on the market. The price, weight and size of the units can vary dramatically depending on the ... Read more

1 answer · Top answer: There are many GPS+INS fusion units available on the market. The price, weight and size of the units can vary dramatically depending on the GPS positioning ...

Enhancing GPS/INS integration for land-based positioning

Taylor & Francis Online

https://www.tandfonline.com › doi › abs

Taylor & Francis Online

https://www.tandfonline.com › doi › abs

by H Alaeiyan 2025 — This study introduces a novel GPS/INS integration approach using the Information Filter (IF), which improves adaptability to time-varying uncertainties in the ... Read more

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