Title :
Data fusion of ALV GPS/DR integrated navigation system based on BP neural network
Author :
Wang, Meiling ; Fu, Yongwei
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., Beijing
Abstract :
Integrated navigation system of ALV is discussed in this paper, a data fusion method based on BP (back propagation) neural network is proposed for ALV´s GPS/DR integrated navigation. System models have been established based on this data fusion method. Integrated navigation system uses GPS parameters as criterion to judge the validity of GPS. When GPS is valid, neural network is adopted for state estimation, which is four-layered network with 5-input/3-output neurons and two hidden layers. When GPS is invalid, DR is introduced by using outputs from IMU and odometer and initial information from BP network. Training and simulation are made with this BP network based integrated navigation system, whose performance is improved according to the simulation. The experimental results indicate that the navigation accuracy of integrated system has been improved in comparison with that of either GPS or DR.
Keywords :
Global Positioning System; backpropagation; neural nets; sensor fusion; state estimation; telecommunication computing; traffic engineering computing; vehicles; GPS; autonomous land vehicle; back propagation neural network; data fusion method; integrated navigation system; state estimation; Dead reckoning; Electromagnetic measurements; Gaussian noise; Global Positioning System; Mathematical model; Neural networks; Noise measurement; Satellite navigation systems; State estimation; Working environment noise; ALV; BP neural network; Data fusion; Dead reckoning; Integrated navigation system;
Conference_Titel :
Industrial Technology, 2009. ICIT 2009. IEEE International Conference on
Conference_Location :
Gippsland, VIC
Print_ISBN :
978-1-4244-3506-7
Electronic_ISBN :
978-1-4244-3507-4
DOI :
10.1109/ICIT.2009.4939595
