GNSS-receiver with open interface for deeply coupling and vector tracking

Each system using deeply coupling of sensors demands its own parameterized algorithm regarding geometry, Inertial Measurement Unit (IMU) and e.g. vehicle data. The present GNSS-receiver market is not flexible enough to support each application and each special market. Nowadays deeply coupling solution is always a fixed combination of a high performance IMU with a high performance GNSS receiver. This paper describes a GNSS receiver development platform with an open interface to allow deeply coupling of inertial sensors and vector tracking on user side. In this work, two different approaches are adopted for development of an open interface for GNSS receiver. First approach uses standard ZeroMQ library, while in second case dedicated Application Programming Interface (API) is developed for external loop closure. Furthermore, for testing of first approach, three example implementations are presented along with results and comparison with standard tracking loops. Results are presented for second case and compared with standard tracking loops, on single-board computer (SBC).