The performance of the loosely coupled GPS/INS integration (LC) can be improved by the use of carrier measurements. However, the existing solutions are mostly based on the Real Time Kinematic (RTK) technique which requires an expensive base station for corrections. In this paper, a LC architecture with carrier smoothing is proposed for the use of carrier pseudorange without that station. The proposed architecture is based on the fact that carrier pseudorange can be smoothed by the combination of code and carrier pseudorange. Owing to absence of the base station, it is expected that this approach can achieve better results than the traditional approach does. Evaluation results demonstrate that the error in position of the proposed architecture are smaller than that of traditional architecture up to several meters.
