Vehicle GNSS/INS integrated navigation method based on discrete gray neural network model
A gray neural network and integrated navigation technology, applied in the field of vehicle GNSS/INS integrated navigation based on discrete gray neural network model, can solve the problem of reduced navigation accuracy
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[0076] The technical solution of the present invention will be further introduced below in conjunction with specific embodiments and drawings.
[0077] This specific embodiment discloses a vehicle GNSS / INS integrated navigation method based on a discrete gray neural network model, including the following steps:
[0078] S1: According to the angular increment and specific force output by the micro inertial device, use the inertial navigation value update algorithm to calculate the attitude, speed and position of the vehicle;
[0079] S2: Establish a discrete gray scale prediction model based on DGM(1,1);
[0080] S3: Improved multilayer neural network MLP;
[0081] S4: Design a hybrid intelligent prediction algorithm DGM-MLP based on discrete gray scale neural network. When the GNSS signal is valid, use DGM-MLP to train the GNSS position; when the GNSS signal is invalid, use DGM-MLP to perform Predict and obtain pseudo-GNSS position information;
[0082] S5: Take the inertial navigation ...
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