NARX neural network assisted integrated navigation method

A neural network and integrated navigation technology, applied in the field of NARX neural network-assisted integrated navigation, can solve problems such as failure navigation accuracy

Pending Publication Date: 2021-08-13
YANSHAN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved in the present invention is to provide a method for NARX neural network assisted integrated navigation, which can effectively solve the problem caused by short-term GPS failure to the navigation accuracy of the SINS / GPS integrated navigation system, and offset the short-term GPS failure caused by the integrated navigation accuracy. influences

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  • NARX neural network assisted integrated navigation method
  • NARX neural network assisted integrated navigation method
  • NARX neural network assisted integrated navigation method

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Embodiment Construction

[0027] Below in conjunction with embodiment the present invention is described in further detail:

[0028] Such as figure 1 , figure 2 , image 3 , Figure 4 As shown, a NARX neural network-assisted integrated navigation method aims to offset the impact of short-term GPS failure on the navigation accuracy of the SINS / GPS integrated navigation system, and learn the IMU output information and inertial navigation solution information through the NARX neural network. The complex dynamic relationship between GNSS position and speed information, during the short-term failure of GPS, the predicted value of GPS position and speed increment is given by the NARX neural network to calculate the observations required by Kalman filter, thereby ensuring the accuracy of Kalman filter measurement update Work properly.

[0029] A kind of method of NARX neural network assisted combined navigation of the present invention specifically comprises the following steps:

[0030] Step 1: Constru...

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Abstract

The invention discloses an NARX neural network assisted integrated navigation method, and relates to the technical field of navigation. The method comprises the steps that during the normal working period of a GPS, a neural network receives IMU output information, SINS position speed increment is used as neural network input, and GPS position speed increment is used as network target output to carry out neural network training; during the short-time failure period of the GPS, the NARX neural network gives a predicted value of the position and speed increment of the GPS according to the input IMU information and the position and speed increment of the SINS, and the predicted value and the position and speed increment of the SINS are subtracted to obtain the quantity measurement required by Kalman filtering. According to the method, the measurement updating is ensured to be smoothly carried out, and the influence of short-time failure of the GPS on the integrated navigation precision is counteracted.

Description

technical field [0001] The invention mainly relates to the technical field of navigation, in particular to a method for NARX neural network assisted integrated navigation. Background technique [0002] Any navigation method has its advantages and disadvantages, and it is difficult to meet the navigation requirements of the carrier by using a certain navigation method alone. Integrated navigation is to combine various navigation systems with complementary advantages and disadvantages, measure and solve the same navigation information to form quantity measurement, calculate and correct the errors of each navigation system from these quantity measurements, and then improve Navigation accuracy. The integrated navigation system combining Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) is widely used in various vehicles. SINS does not require any external information and does not radiate any information. It can work normally under any medium and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/50G06N3/04G06N3/08H03H17/02
CPCG01C21/165G01S19/50G06N3/04G06N3/08H03H17/0257
Inventor 郑龙江张帅侯培国
Owner YANSHAN UNIV
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