The influence of the GNSS solution on the estimated parameters in the course of sensor integration

As a result of the continuously decreasing costs of sensors, the number of applications using multiple sensors for the determination of navigation parameters increases significantly. Examples are remotely piloted aircraft systems (RPAS), pedestrian navigation using smartphones, driver assistance systems within cars, etc. All applications have in common that the costs have to be minimized. Finding the optimal sensor configuration for a specific application is a challenge because of cost limitations. While most of the time sensors are replaced when specific accuracy requirements are not met, within this paper, an approach without increased costs will be investigated. The idea behind this approach is to change the GNSS processing methodology, e.g., from single point positioning to relative positioning even though, the high position accuracy is not required. This approach allows improving the system performance of all parameters without increasing the hardware costs if the receiver supports GNSS raw data output.