GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage
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 Vecto...
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| Format: | Article |
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Cambridge University Press
2015
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| Online Access: | https://eprints.nottingham.ac.uk/35380/ |
| _version_ | 1848795064638111744 |
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| author | Tan, Xinglong Wang, Jian Jin, Shuanggen Meng, Xiaolin |
| author_facet | Tan, Xinglong Wang, Jian Jin, Shuanggen Meng, Xiaolin |
| author_sort | Tan, Xinglong |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T19:26:09Z |
| format | Article |
| id | nottingham-35380 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:26:09Z |
| publishDate | 2015 |
| publisher | Cambridge University Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-353802020-05-04T20:08:17Z https://eprints.nottingham.ac.uk/35380/ GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage Tan, Xinglong Wang, Jian Jin, Shuanggen Meng, Xiaolin 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. Cambridge University Press 2015-07 Article PeerReviewed Tan, Xinglong, Wang, Jian, 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 GPS/INS Integrated Navigation; Pseudo-GPS Position; Support Vector Regression; Improved Adaptive Filtering http://journals.cambridge.org/action/displayAbstract?fromPage=online&aid=9719975&fileId=S037346331500003X doi:10.1017/S037346331500003X doi:10.1017/S037346331500003X |
| spellingShingle | GPS/INS Integrated Navigation; Pseudo-GPS Position; Support Vector Regression; Improved Adaptive Filtering Tan, Xinglong Wang, Jian Jin, Shuanggen Meng, Xiaolin GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title | GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title_full | GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title_fullStr | GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title_full_unstemmed | GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title_short | GA-SVR and pseudo-position-aided GPS/INS integration during GPS outage |
| title_sort | ga-svr and pseudo-position-aided gps/ins integration during gps outage |
| topic | GPS/INS Integrated Navigation; Pseudo-GPS Position; Support Vector Regression; Improved Adaptive Filtering |
| url | https://eprints.nottingham.ac.uk/35380/ https://eprints.nottingham.ac.uk/35380/ https://eprints.nottingham.ac.uk/35380/ |