The performance of tightly coupled GNSS/INS integration is known to be better than that of loosely coupled GNSS/INS integration. However, if the time synchronization error occurs between the GNSS receiver and INS(Inertial Navigation System), the situation reverses. The performance of loosely coupled GNSS/INS integration and tightly coupled GNSS/INS integration is analyzed and compared due to time synchronization error by computer simulation.
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