DocumentCode :
3151527
Title :
Neural network assisted ultra-tightly coupled GPS/INS integration for seamless navigation
Author :
Dah-Jing Jwo ; Chih-Hsun Chuang ; Jing-Yu Yang ; Yu-He Lu
Author_Institution :
Dept. of Commun., Navig. & Control Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
fYear :
2012
fDate :
5-8 Nov. 2012
Firstpage :
385
Lastpage :
390
Abstract :
In GPS/INS integration, the ultra-tightly coupled approach involves the integration of I (in-phase) and Q (quadrature) components from the correlator of a GPS receiver with the INS data. The principal advantages of the Ultra Tightly Couple (UTC) structure is that a Doppler frequency derived from the INS is integrated with the tracking loops to improve the receiver tracking capability. The Doppler frequency shift is calculated and fed to the GPS tracking loops for elimination of the effect of stochastic errors caused by the Doppler frequency. The navigation information from INS can be converted into the Doppler information, which can be integrated with the GPS tracking loops to mitigate the Doppler on the GPS signal, resulting in the threshold improvement, thereby improving the overall system performance. An algorithm for bridging GPS outages using the radial basis function neural network (RBFNN) and Adaptive Network-Based Fuzzy Inference System (ANFIS) for providing better prediction of Doppler residual between GPS and prediction in order to maintain regular operation of the navigation system. The results demonstrate that the UTC with the assist of neural network can effectively improve the system robustness during GPS outages.
Keywords :
Doppler shift; Global Positioning System; correlators; fuzzy neural nets; fuzzy reasoning; inertial navigation; radial basis function networks; radio receivers; stochastic processes; ANFIS; Doppler frequency shift; Doppler residual; GPS receiver; GPS tracking loop; INS; RBFNN; UTC structure; adaptive network-based fuzzy inference system; correlator; in-phase component; inertial navigation system; quadrature component; radial basis function neural network; receiver tracking capability; stochastic error; ultra tightly couple; Doppler effect; Global Positioning System; Neural networks; Receivers; Satellites; Tracking loops; ANFIS; Doppler; GPS/INS; RBFNN; Ultra-tightly coupled; Velocity aiding;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
ITS Telecommunications (ITST), 2012 12th International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4673-3071-8
Electronic_ISBN :
978-1-4673-3069-5
Type :
conf
DOI :
10.1109/ITST.2012.6425204
Filename :
6425204
Link To Document :
بازگشت