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Journal of Projectiles, Rockets, Missiles and Guidance >

2022 , Vol. 42 >Issue 5: 1 - 5

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2022.05.001

Elman Network Aided SINS/GNSS Integrated Navigation

  • ZHANG Kun ,
  • CHENG Yu ,
  • WU Youlong ,
  • CHEN Shuai ,
  • BAI Zhenghao
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  • School of Automation, Nanjing University of Science and Technology,Nanjing 210094,China

Received date: 2022-04-20

  Online published: 2025-01-16

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Abstract

In the SINS/GNSS integrated navigation system, the position error of pure inertial navigation will increase rapidly during GNSS outages. A method based on Elman neural network and adaptive Kalman filter to improve SINS/GNSS pseudo-loose integrated navigation is proposed. When GNSS signal is available, Elman neural network is trained by SINS and GNSS data. When the GNSS outage occurs, the trained network model is used to predict the GNSS observations to ensure the continuity of integrated navigation. Experiment showed that the horizontal position accuracy of the proposed method was 64% higher than that of the pure inertial navigation system when the GNSS signal was lost for about 3 min. The position accuracy of the pure inertial navigation system is effectively improved.

Key words： neural network; integrated navigation; adaptive Kalman filter; error divergence

Cite this article

ZHANG Kun , CHENG Yu , WU Youlong , CHEN Shuai , BAI Zhenghao . Elman Network Aided SINS/GNSS Integrated Navigation[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2022 , 42(5) : 1 -5 . DOI: 10.15892/j.cnki.djzdxb.2022.05.001

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