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Enhancing positioning accuracy of GPS/INS system during GPS outages utilizing artificial neural network

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Abstract

Integrated global positioning system and inertial navigation system (GPS/INS) have been extensively employed for navigation purposes. However, low-grade GPS/INS systems generate erroneous navigation solutions in the absence of GPS signals and drift very fast. We propose in this paper a novel method to integrate a low-grade GPS/INS with an artificial neural network (ANN) structure. Our method is based on updating the INS in a Kalman filter structure using ANN during GPS outages. This study focuses on the design, implementation and integration of such an ANN employing an optimum multilayer perceptron (MLP) structure with relevant number of layers/perceptrons and an appropriate learning. As a result, a land test is conducted with the proposed ANN + GPS/INS system and we here provide the system performance with the land trials.

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Authors and Affiliations

  1. Defence Industries Research and Development Institute, The Scientific and Technical Research Council of Turkey, TÜBİTAK-SAGE GKL Lab. ODTÜ Yerleskesi, Balgat/Ankara, 06531, Turkey

    Burak H. Kaygısız

  2. Electrical and Electronics Engineering Department, Middle East Technical University, Ankara, Turkey

    Aydan M. Erkmen & İsmet Erkmen

Authors
  1. Burak H. Kaygısız
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  2. Aydan M. Erkmen
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  3. İsmet Erkmen
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Correspondence to Burak H. Kaygısız.

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Kaygısız, B.H., Erkmen, A.M. & Erkmen, İ. Enhancing positioning accuracy of GPS/INS system during GPS outages utilizing artificial neural network. Neural Process Lett 25, 171–186 (2007). https://doi.org/10.1007/s11063-007-9036-y

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  • DOI: https://doi.org/10.1007/s11063-007-9036-y

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