*Article* **A Dual w-Test Based Quality Control Algorithm for Integrated IMU/GNSS Navigation in Urban Areas**

**Rui Sun 1,2, Ming Qiu 1, Fei Liu 2,3,\*, Zhi Wang 2,3 and Washington Yotto Ochieng 1,4**


**Abstract:** Integration of the Global Navigation Satellite System (GNSS), with Inertial Measurement Unit (IMU) sensors to improve navigation performance, is widely used in many land-based applications. However, further application, especially in urban areas, is limited by the quality (due mainly to multipath effects) and availability of GNSS measurements, with a significant impact on performance, especially from low grade integration. To maximize the potential of GNSS measurements, this paper proposes a dual w-test-based quality control algorithm for integrated IMU/GNSS navigation in urban areas. Quality control is achieved through fault detection and exclusion (FDE) with the capability to detect simultaneous multiple faults in measurements from different satellites. The remaining fault-free GNSS measurements are fused with IMU sensor measurements to obtain the final improved state solution. The effectiveness of the algorithm is validated in a deep urban field test. Compared to the cases without fault exclusion, the results show improvements of about 24% and 30% in horizontal and vertical positioning components, respectively.

**Keywords:** GNSS; IMU; urban positioning; fault detection and exclusion
