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Sensors 2016, 16(12), 2019; doi:10.3390/s16122019

A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”

1
School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China
2
Science and Technology on Inertial Laboratory, Beihang University, Beijing 100191, China
*
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 18 June 2016 / Revised: 18 November 2016 / Accepted: 22 November 2016 / Published: 29 November 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
View Full-Text   |   Download PDF [6665 KB, uploaded 29 November 2016]   |  

Abstract

In recent years, with the emergency of high precision inertial sensors (accelerometers and gyros), gravity compensation has become a major source influencing the navigation accuracy in inertial navigation systems (INS), especially for high-precision INS. This paper presents preliminary results concerning the effect of gravity disturbance on INS. Meanwhile, this paper proposes a novel gravity compensation method for high-precision INS, which estimates the gravity disturbance on the track using the extreme learning machine (ELM) method based on measured gravity data on the geoid and processes the gravity disturbance to the height where INS has an upward continuation, then compensates the obtained gravity disturbance into the error equations of INS to restrain the INS error propagation. The estimation accuracy of the gravity disturbance data is verified by numerical tests. The root mean square error (RMSE) of the ELM estimation method can be improved by 23% and 44% compared with the bilinear interpolation method in plain and mountain areas, respectively. To further validate the proposed gravity compensation method, field experiments with an experimental vehicle were carried out in two regions. Test 1 was carried out in a plain area and Test 2 in a mountain area. The field experiment results also prove that the proposed gravity compensation method can significantly improve the positioning accuracy. During the 2-h field experiments, the positioning accuracy can be improved by 13% and 29% respectively, in Tests 1 and 2, when the navigation scheme is compensated by the proposed gravity compensation method. View Full-Text
Keywords: gravity compensation; error modelling; extreme learning machine (ELM); high precision free-INS gravity compensation; error modelling; extreme learning machine (ELM); high precision free-INS
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Zhou, X.; Yang, G.; Cai, Q.; Wang, J. A Novel Gravity Compensation Method for High Precision Free-INS Based on “Extreme Learning Machine”. Sensors 2016, 16, 2019.

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