GPSINS combination navigation method and system utilizing neural network algorithm to realize compensation and correction

Abstract

The invention discloses a GPSINS combination navigation method and system utilizing a neural network algorithm to realize compensation and correction. The method comprises steps that a combination navigation model based on a GPS and an inertial navigation module is constructed, a Kalman filter is designed to filter combination navigation data of the combination navigation model, and navigation error data of the inertial navigation module is outputted; in a normal GPS signal state, inertial navigation data is taken as input data of a training sample of a neural network model, output data of the navigation data after filtered by the Kalman filter is taken as output data of a training sample of a neural network module, and the neural network model is trained; in a GPS signal loss state, the trained neural network model is utilized to predict an output error of the inertial navigation module, and the predicted output error is further utilized to compensate and correct inertial navigation. The method is advantaged in that the GPSINS combination navigation model is compensated and corrected through utilizing the neural network algorithm, and the inertial navigation system is assisted by the neural network algorithm to output the accurate navigation data in the GPS signal loss state.

Description

technical field [0001] The present invention relates to the field of satellite navigation and inertial navigation, in particular to a method and system for compensating and correcting integrated navigation under the condition of GPS signal loss of UAV by using neural network algorithm. Background technique [0002] In terms of navigation technology, currently the most widely used, the most mature navigation methods are inertial navigation and satellite navigation. The advantage of GPS satellite navigation is that it has the characteristics of global, all-weather, and high positioning accuracy for a long time, but the disadvantage is that the signal is easily interfered and blocked. Limited, generally 1-10Hz, the output is discontinuous. In the occasions that need to update information quickly, such as UAV systems with high mobility and real-time requirements, the shortcomings of GPS satellite navigation will be highlighted. The INS inertial navigation system is a fully auto...

AI Technical Summary

Problems solved by technology

However, under some special environmental conditions, such as signal blocking areas and environments with many obstacles, satellite signals may be lost. At this time, the navigation system can only rely on pure inertial navigation. As time goes by, the navigation data The error will become larger and larger

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