Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements

• URL: http://arxiv.org/abs/2605.24767v1
• Date: Sat, 23 May 2026 23:04:30 GMT
• Title: Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements
• Abstract summary: We propose utilizing past measurements alongside a motion model to extract meaningful vehicle acceleration information.<n>This acceleration measurement is then integrated into the INS/GNSS filter to improve robustness and accuracy.<n>Results demonstrate consistent positioning accuracy improvements relative to the standard position-aided filter.
• Score: 5.5217350574838875
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states, particularly during low-dynamic motion. In this work, we propose utilizing past GNSS measurements alongside a motion model to extract meaningful vehicle acceleration information. This acceleration measurement is then integrated into the INS/GNSS filter to improve its robustness and accuracy. The proposed approach is evaluated on two real-world unmanned ground vehicle datasets collected from different mobile platforms and inertial sensor grades. Results demonstrate consistent positioning accuracy improvements relative to the standard position-aided filter, with mean position root mean square error improvements of 11.40 % and 20.74 % on the two datasets, respectively.

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