Performance of Low-cost GNSS/INS Receivers and Smartphone GNSS Positioning in Pedestrian Applications

In recent years, there has been a significant advancement in the field of Global Navigation Satellite Systems (GNSS). The completion of newly built systems (Galileo, BeiDou) together with the modernisation of long-standing systems (GPS, GLONASS) has brought new signals and also new services to users. A significant technological advance has also been achieved in the development and availability of low-cost devices enabling positioning and navigation based on GNSS alone or a combination of several technologies. The study focuses on testing GNSS receivers in smartphones and low-cost devices combining GNSS and inertial navigation. The aim was to address the current capabilities and the quality of positioning offered by these devices. The analyses were performed on test measurements performed in kinematic mode in an urban environment at walking speed. The aim was to make test measurements that are representative enough to reflect conditions commonly encountered in life. Advanced GNSS techniques were tested in both real-time and post-processing of the raw observations. Low-cost u-blox single and multi-frequency modules combining GNSS and inertial localization, as well as standard Samsung mobile phones were used. Impact of the GNSS (multi-)constellation on the quality of positioning was also evaluated, as some GNSS signals exhibit higher multipath resistance and a higher number of satellites can significantly help with positioning initialization and improve its accuracy.