On the Evaluation of Galileo E5 AltBOC Signals for GNSS-INS Integration

New GNSS signals are becoming available and the use of high accuracy pseudorange observables from Galileo E5 AltBOC modulation is expected to contribute to the quality enhancement of GNSS-INS integrations which could well be an enabler of future real-time navigation applications. In this paper, an evaluation of the Galileo E5 AltBOC signals for GNSS-INS integration with automotive-grade MEMS-IMU is performed and compared with an integration using the typical GPS L1 but with a tactical-grade IMU. This evaluation is performed for both multipath and no-multipath environments and the position estimation accuracies are compared. Simulations using the GRANADA Factored Correlator Model Blockset of DEIMOS Engenharia along with an EKF navigation filter and an IMU simulator show that positioning accuracies reach centimeter-level for the GNSS-INS integration with E5 AltBOC signals and automotive-grade IMU sensors. Additionally, results show that making use of GPS L1 signal with a higher grade IMU does not attains such accurate solutions.