A hybrid fusion algorithm for GPS/INS integration during GPS outages

Improving positioning accuracy of vehicular navigation system during GPS outages utilizing ensemble learning algorithm

This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm.

A Tightly-Coupled GPS/INS/UWB Cooperative Positioning Sensors System Supported by V2I Communication

Aiming to improve the navigation accuracy during global navigation satellite system (GNSS) outages, an algorithm based on long short-term memory (LSTM) is proposed for aiding inertial navigation system (INS). The LSTM algorithm is investigated to generate the pseudo GNSS position increment substituting the GNSS signal. Almost all existing INS aiding algorithms, like the multilayer perceptron neural network (MLP), are based on modeling INS errors and INS outputs ignoring the dependence of the past vehicle dynamic information resulting in poor navigation accuracy. Whereas LSTM is a kind of dynamic neural network constructing a relationship among the present and past information. Therefore, the LSTM algorithm is adopted to attain a more stable and reliable navigation solution during a period of GNSS outages. A set of actual vehicle data was used to verify the navigation accuracy of the proposed algorithm. During 180 s GNSS outages, the test results represent that the LSTM algorithm can enhance the navigation accuracy 95% compared with pure INS algorithm, and 50% of the MLP algorithm.

A LSTM Algorithm Estimating Pseudo Measurements for Aiding INS during GNSS Signal Outages

GPS/UWB/MEMS-IMU tightly coupled navigation with improved robust Kalman filter

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.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S0373463314000307

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

The performance of Global Positioning System and Inertial Navigation System (GPS/INS) integrated navigation is reduced when GPS is blocked. This paper proposes an algorithm to overcome the condition where GPS is unavailable. Together with a parameter-optimised Genetic Algorithm (GA), a Support Vector Regression (SVR) algorithm is used to construct the mapping function between the specific force, angular rate increments of INS measurements and the increments of the GPS position. During GPS outages, the real-time pseudo-GPS position is predicted with the mapping function, and the corresponding covariance matrix is estimated by an improved adaptive filtering algorithm. A GPS/INS integration scheme is demonstrated where the vehicle travels along a straight line and around a curve, with respect to both low-speed-stable and high-speed-unstable navigation platforms. The results show that the proposed algorithm provides a better performance when GPS is unavailable.

/pdf/ga-svr-and-pseudo-position-aided-gps-ins-integration-during-3huewizvy8.pdf

GA-SVR and Pseudo-position-aided GPS/INS Integration during GPS Outage

Low cost inertial sensor attitude fixation algorithm and accuracy analysis

Water vapor is a dominant greenhouse gas. It significantly impacts the atmosphere by trapping heat and infrared radiation. The greenhouse effect is essential for life on Earth but can also be harmful. Although the amount of water vapor in the atmosphere is not much during the water cycle, it is the most active element in rapid changes in both spatial and temporal domains. GNSS tomography’s ability to model the high-resolution 3D distribution of water vapor is a promising means of measuring and monitoring the spatial-temporal variation of water vapor. This study developed and tested a new GNSS tomographic model using adaptive voxel parameterization. It uses a 3D traversal algorithm to dynamically determine the position of voxels at each tomographic sampling epoch. It means that the new algorithm can exclude the voxels that no GNSS signals pass through, reducing the influence of such voxels in the construction of the tomographic model. This study provides a new approach to investigating the inversion of atmospheric water vapor. The experiment used one-month data from the Hong Kong network in September 2020, and the results were compared with the general system. The local radiosonde data is a reference for verification of the two approaches. The mean root-mean-square error (RMSE) and IQR of the water vapor profiles derived from AAR are decreased by 55% and 48% with respect to the GFR results, respectively. The results show that the accuracy of the new method outperforms the general approach in the result statistics. The successful implementation of the research has significant potential to drive the development of GNSS tomography in the study of weather and climate change.

/pdf/adaptive-voxel-based-model-for-the-dynamic-determination-of-1n5pliyn.pdf

Xinglong Tan

Papers

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

GA-SVR and Pseudo-position-aided GPS/INS Integration during GPS Outage

Low cost inertial sensor attitude fixation algorithm and accuracy analysis

Adaptive Voxel-Based Model for the Dynamic Determination of Tomographic Region