Gnss/ins fusion with virtual lever-arm measurements

Aviram Borko, Itzik Klein, Gilad Even-Tzur

Research output: Contribution to journalArticlepeer-review


The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publications showed that the lever-arm, defined as the relative position between the INS and aiding sensor, has a strong influence on navigation accuracy. Most research in this field is focused on INS/GNSS fusion with GNSS position or velocity updates while considering various maneuvers types. In this paper, we propose to employ virtual lever-arm (VLA) measurements to improve the accuracy and time to convergence of the observable INS error-states. In particular, we show that VLA measurements improve performance even in stationary conditions. In situations when maneuvering helps to improve state observability, VLA measurements manage to gain additional improvement in accuracy. These results are supported by simulation and field experiments with a vehicle mounted with a GNSS and an INS.

Original languageEnglish
Article number2228
Issue number7
StatePublished - 11 Jul 2018
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2018 by the authors. Licensee MDPI, Basel, Switzerland.


  • GNSS
  • Inertial navigation system
  • Lever-arm

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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