GNSS/INS integrated positioning method based on fully connected neural network

Ershen WANG; Yifan LIU; Tengli YU; Jian YANG; Da LIU; Shuning ZHANG; Jingyi YI; Xin LI

doi:10.3969/j.issn.2095-1248.2024.05.006

Journal of Shenyang Aerospace University >

2024 , Vol. 41 >Issue 5: 54 - 61

DOI: https://doi.org/10.3969/j.issn.2095-1248.2024.05.006

Information Science and Engineering

GNSS/INS integrated positioning method based on fully connected neural network

Ershen WANG ^,^1a^,^1b ,
Yifan LIU ^1a ,
Tengli YU ^1c ,
Jian YANG ² ,
Da LIU ² ,
Shuning ZHANG ^1c ,
Jingyi YI ^1a ,
Xin LI ^1a

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^1a. College of Electronic and Information Engineering，Shenyang 110136，China
^1b. College of Aerospace Engineering，Shenyang 110136，China
^1c. College of Aerospace Engineering，Shenyang Aerospace University，Shenyang 110136，China
^2. Liaoning General Aviation Academy，Shenyang 110136，China

Received date: 2024-04-27

Online published: 2024-12-11

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Abstract

As a navigation solution with higher accuracy and better robustness compared to single navigation systems，GNSS/INS integrated navigation has been widely applied in various carriers.Aiming at the problem of the satellite navigation signal interruption caused by environmental obstruction or electromagnetic interference to reduce the accuracy of integrated positioning，GNSS/INS integrated navigation positioning method by a fully connected neural network （FCNN）was proposed.This method consisted of training and prediction modules.Under normal GNSS signal conditions，the me-thod utilized the position and velocity information calculated by INS and the position and velocity information output by the integrated navigation to train the FCNN model.When the GNSS signals were interrupted or fail，the pre-trained FCNN model was used to predict the navigation solutions.Experimental data was employed to validate the proposed method.The results indicate that the GNSS/INS based on FCNN integrated navigation method proposed in this study effectively suppresses the divergence of single INS positioning errors，thereby improving the accuracy and availability of GNSS/INS integra-ted positioning results when the GNSS signals are interrupted.

Key words： global navigation satellite system; inertial navigation system; signal interruption; integra-ted navigation; fully connected neural network

Cite this article

Ershen WANG , Yifan LIU , Tengli YU , Jian YANG , Da LIU , Shuning ZHANG , Jingyi YI , Xin LI . GNSS/INS integrated positioning method based on fully connected neural network[J]. Journal of Shenyang Aerospace University, 2024 , 41(5) : 54 -61 . DOI: 10.3969/j.issn.2095-1248.2024.05.006

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