Performance of a Partially Coherent Ultra-Tightly Coupled GNSS/INS Pedestrian Navigation System Enabling Coherent Integration Times of Several Seconds to Track GNSS Signals Down to 1.5 dBHz

(1) IFEN GmbH, Alte Gruber Strase 6, 85586 Poing, Germany, E-mail: T.Pany@ifen.com (2) University FAF Munich, Institute of Geodesy and Navigation, 85577 Neubiberg Germany Email: Herbert.Niedermeier@unibw.de (3) AUDENS ACT Consulting GmbH, Argelsrieder Feld 22, 82234 Wessling, Germany Email: Thomas.Woerz@audens.com (4) Telespazio S.p.A., via Tiburtina, 965, 00156 Roma, Italy Email: stefano.lagrasta@telespazio.com (5) ESA/ESTEC, Keplerlaan 1, 2200 AG Noordwijk, The Netherlands Email: Gustavo.Lopez.Risueno@esa.int