A Novel SINS/GPS Integration Algorithm Based on Neural Networks
Hang Shi, Jihong Zhu, Zengqi Sun · 2006
SINS/GPS integration provides reliable navigation solutions by overcoming each of their shortcomings, including signal blockage for GPS and growth of position errors with time for SINS. Most of the present navigation systems rely on Kalman filtering methods to fuse data. Present Kalman filtering SINS/GPS integration techniques have several inadequacies related to sensor error model, immunity to noise and observability. This paper aims at introducing a novel SINS/GPS integration algorithm utilizing Hopfield neural network. This method obtains the optimal state estimation by minimizing the energy function of the Hopfield neural network. Furthermore this algorithm relaxes the assumptions made by the Kalman filter so that it is more versatile. Simulation results show that the new integration algorithm performs similarly to the Kalman filter. Furthermore it has some advantages such as fast convergence, unbias and high precision during fusion process, despite of the inaccurate modeling errors, system disturbance, observation errors, and even the shortage of observation. Also as the parallel computational mode and easily carried out in hardware of the Hopfield neural network, this integration algorithm can improve the navigation guidance accuracy, real time ability and practicability of the SINS/GPS.