An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network
In view of the failure of GNSS signals, this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network (RNN). This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS, thereby obtaining a c...
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2020-04-01
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Online Access: | http://www.sciencedirect.com/science/article/pii/S2214914719303058 |
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doaj-b0f98bbcccae4aeeb75f5101d23546122021-05-02T16:24:46ZengKeAi Communications Co., Ltd.Defence Technology2214-91472020-04-01162334340An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural networkHai-fa Dai0Hong-wei Bian1Rong-ying Wang2Heng Ma3Corresponding author.; Navigation Engineering Lab, Naval Engineering University, Wuhan, CO, 430033, ChinaNavigation Engineering Lab, Naval Engineering University, Wuhan, CO, 430033, ChinaNavigation Engineering Lab, Naval Engineering University, Wuhan, CO, 430033, ChinaNavigation Engineering Lab, Naval Engineering University, Wuhan, CO, 430033, ChinaIn view of the failure of GNSS signals, this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network (RNN). This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS, thereby obtaining a continuous, reliable and high-precision navigation solution. The performance of the proposed method is firstly demonstrated using an INS/GNSS simulation environment. Subsequently, an experimental test on boat is also conducted to validate the performance of the method. The results show a promising application prospect for RNN in the field of positioning for INS/GNSS integrated navigation in the absence of GNSS signal, as it outperforms extreme learning machine (ELM) and EKF by approximately 30% and 60%, respectively.http://www.sciencedirect.com/science/article/pii/S2214914719303058Inertial navigation system (INS)Global navigation satellite system (GNSS)Integrated navigationRecurrent neural network (RNN) |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hai-fa Dai Hong-wei Bian Rong-ying Wang Heng Ma |
spellingShingle |
Hai-fa Dai Hong-wei Bian Rong-ying Wang Heng Ma An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network Defence Technology Inertial navigation system (INS) Global navigation satellite system (GNSS) Integrated navigation Recurrent neural network (RNN) |
author_facet |
Hai-fa Dai Hong-wei Bian Rong-ying Wang Heng Ma |
author_sort |
Hai-fa Dai |
title |
An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network |
title_short |
An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network |
title_full |
An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network |
title_fullStr |
An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network |
title_full_unstemmed |
An INS/GNSS integrated navigation in GNSS denied environment using recurrent neural network |
title_sort |
ins/gnss integrated navigation in gnss denied environment using recurrent neural network |
publisher |
KeAi Communications Co., Ltd. |
series |
Defence Technology |
issn |
2214-9147 |
publishDate |
2020-04-01 |
description |
In view of the failure of GNSS signals, this paper proposes an INS/GNSS integrated navigation method based on the recurrent neural network (RNN). This proposed method utilizes the calculation principle of INS and the memory function of the RNN to estimate the errors of the INS, thereby obtaining a continuous, reliable and high-precision navigation solution. The performance of the proposed method is firstly demonstrated using an INS/GNSS simulation environment. Subsequently, an experimental test on boat is also conducted to validate the performance of the method. The results show a promising application prospect for RNN in the field of positioning for INS/GNSS integrated navigation in the absence of GNSS signal, as it outperforms extreme learning machine (ELM) and EKF by approximately 30% and 60%, respectively. |
topic |
Inertial navigation system (INS) Global navigation satellite system (GNSS) Integrated navigation Recurrent neural network (RNN) |
url |
http://www.sciencedirect.com/science/article/pii/S2214914719303058 |
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