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

Tan, Xinglong; Wang, Jian; Jin, Shuanggen; Meng, Xiaolin

Authors

Xinglong Tan tanxinglong3@126.com

Jian Wang

Shuanggen Jin

Xiaolin Meng xiaolin.meng@nottingham.ac.uk



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.

Journal Article Type Article
Publication Date Jul 1, 2015
Journal Journal of Navigation
Print ISSN 0373-4633
Electronic ISSN 1469-7785
Publisher Cambridge University Press (CUP)
Peer Reviewed Peer Reviewed
Volume 68
Issue 4
APA6 Citation Tan, X., Wang, J., Jin, S., & Meng, X. (2015). GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage. Journal of Navigation, 68(4), https://doi.org/10.1017/S037346331500003X
DOI https://doi.org/10.1017/S037346331500003X
Keywords GPS/INS Integrated Navigation; Pseudo-GPS Position; Support Vector Regression; Improved Adaptive Filtering
Publisher URL http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9719975&fileId=S037346331500003X
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingh.../end_user_agreement.pdf

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Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf



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