GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage

Tan, Xinglong and Wang, Jian and Jin, Shuanggen and Meng, Xiaolin (2015) GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage. Journal of Navigation, 68 (4). pp. 678-696. ISSN 1469-7785

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Abstract

The performance of Global Positioning System and Inertial Navigation System (GPS/INS) integrated navigation is reduced when GPS is blocked. This paper proposes an algorithm to overcome the condition where GPS is unavailable. Together with a parameter-optimised Genetic Algorithm (GA), a Support Vector Regression (SVR) algorithm is used to construct the mapping function between the specific force, angular rate increments of INS measurements and the increments of the GPS position. During GPS outages, the real-time pseudo-GPS position is predicted with the mapping function, and the corresponding covariance matrix is estimated by an improved adaptive filtering algorithm. A GPS/INS integration scheme is demonstrated where the vehicle travels along a straight line and around a curve, with respect to both low-speed-stable and high-speed-unstable navigation platforms. The results show that the proposed algorithm provides a better performance when GPS is unavailable.

Item Type: Article
Keywords: GPS/INS Integrated Navigation; Pseudo-GPS Position; Support Vector Regression; Improved Adaptive Filtering
Schools/Departments: University of Nottingham UK Campus > Faculty of Engineering > Department of Civil Engineering
Identification Number: https://doi.org/10.1017/S037346331500003X
Depositing User: Meng, Xiaolin
Date Deposited: 25 Jul 2016 14:19
Last Modified: 14 Sep 2016 03:02
URI: http://eprints.nottingham.ac.uk/id/eprint/35380

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