Ground radar-aided INS–GNSS localization under registration biases: A near-CRLB performance

Key Points

• Localization accuracy approaches the Cramer-Rao lower bound under specific registration biases, enhancing system performance.
• Key evidence shows significant improvements in positioning accuracy, with a focus on INS and GNSS integration metrics.
• Approach includes an observational analysis using advanced ground radar techniques and integrated navigation systems.
• Findings may enable more reliable localization solutions in various applications, particularly where biases are present.