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GPS/INS/Odometer Integrated System Using Fuzzy Neural Network for Land Vehicle Navigation Applications

Published online by Cambridge University Press:  04 June 2014

Zengke Li ,
Jian Wang ,
Binghao Li ,
Jingxiang Gao  and
Xinglong Tan
Zengke Li*
Affiliation:
(School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou, China)
Jian Wang
Affiliation:
(School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou, China)
Binghao Li
Affiliation:
(School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, Australia)
Jingxiang Gao
Affiliation:
(School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou, China)
Xinglong Tan
Affiliation:
(School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou, China)
*
(E-mail: zengkeli@cumt.edu.cn)
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Abstract

The integration of Global Positioning Systems (GPS) with Inertial Navigation Systems (INS) has been very actively studied and widely applied for many years. Some sensors and artificial intelligence methods have been applied to handle GPS outages in GPS/INS integrated navigation. However, the integrated system using the above method still results in seriously degraded navigation solutions over long GPS outages. To deal with the problem, this paper presents a GPS/INS/odometer integrated system using a fuzzy neural network (FNN) for land vehicle navigation applications. Provided that the measurement type of GPS and odometer is the same, the topology of a FNN used in a GPS/INS/odometer integrated system is constructed. The information from GPS, odometer and IMU is input into a FNN system for network training during signal availability, while the FNN model receives the observations from IMU and odometer to generate odometer velocity correction to enhance resolution accuracy over long GPS outages. An actual experiment was performed to validate the new algorithm. The results indicate that the proposed method can improve the position, velocity and attitude accuracy of the integrated system, especially the position parameters, over long GPS outages.

Keywords

GPSINSOdometerLoosely CoupledFuzzy Neural Network
Type
Research Article
Information
The Journal of Navigation , Volume 67 , Issue 6 , November 2014 , pp. 967 - 983
Copyright
Copyright © The Royal Institute of Navigation 2014 

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