GNSS software receiver development and ultra-tight integration with inertial sensors

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Positioning capability is becoming commonplace in today's society with certain automobiles, mobile telephones and even clothing being equipped with navigation systems. Most systems rely, at least in part, on Global Navigation Satellite System (GNSS) technology such as the U.S. Global Positioning System (GPS). Using optimal data processing strategies, positioning accuracies can be as good as 2-3 cm. Unfortunately, the GPS signals that reach the Earth have very low power, which have historically limited their use to "open-sky" areas where the satellite signals can be received without being attenuated by such things as foliage and buildings. However, GPS receiver manufacturers have, in the past ten years, developed high-sensitivity receivers that can track signals in degraded environments such as indoors where the signal is attenuated by a factor of about 1,000. Despite this extended operational range, high-sensitivity receivers typically suffer from positioning accuracies no better than several metres.