Field tests on GNSS and inertial systems for transport fleet monitoring in urban environment

The paper describes the results of a series of tests carried out with different sensor platforms (geodetic GNSS with or without RTCM corrections, low cost GNSS, integrated GNSS/INS) in a real urban environment with a relevant presence of satellite obstructions (tall buildings, trees, ...) causing frequent and prolonged GNSS outages. The different systems have been tested simultaneously on the same test paths, in order to analyse their behaviour in typical situations and make possible a series of comparisons. The results of the tests have been useful for the design of a vehicle monitoring system installed on a public and scholastic transport fleet.