Navigation capabilities of mid-cost GNSS/INS vs. smartphone analysis and comparison in urban navigation scenarios

Proceedings of: 17th International Conference on Information Fusion (FUSION 2014): Salamanca, Spain 7-10 July 2014.High accuracy navigation usually require expensive sensors and/or its careful integration into a complex and finely tuned system. Smartphones pack a high number of sensors in a portable format, becoming a source of low-quality information with a high heterogeneity and redundancy. This work compares pure GNSS/INS capabilities on both types of platform, and discuss the weaknesses/opportunities offered by the smartphone. The analysis is carried out in a modular context-aware sensor fusion architecture developed for a previous work. It intends to serve as a preparation for answering bigger questions: can smartphones provide robust and high-quality navigation in vehicles? In which conditions? Where are the limits in the different navigation scenarios?This work was supported in part by Projects MINECO TEC2012-37832-C02-01, CICYT TEC2011-28626-C02-02, CAM CONTEXTS (S2009/TIC-1485)Publicad