Date Added: Feb 2010
This paper considers the problem of ultra - tight GNSS/INS integration. The authors propose a new approach, deriving the direct relation between Inertial Measurement Unit (IMU) measurements and synchronization parameters, used in the trilateration algorithm to compute the position of the receiver. They take into account the IMU's eventual biased behavior by introducing it into the state representation. They use a recently - developed, square-root derivative - free Gaussian nonlinear filter to solve the estimation problem.