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Sensors 2018, 18(11), 3863; https://doi.org/10.3390/s18113863

A Novel Hybrid of a Fading Filter and an Extreme Learning Machine for GPS/INS during GPS Outages

1,2
,
1,2,* and 1,2
1
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
2
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
*
Author to whom correspondence should be addressed.
Received: 4 September 2018 / Revised: 22 October 2018 / Accepted: 8 November 2018 / Published: 10 November 2018
(This article belongs to the Section Physical Sensors)
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Abstract

In this paper, a novel algorithm based on the combination of a fading filter (FF) and an extreme learning machine (ELM) is presented for Global Positioning System/Inertial Navigation System (GPS/INS) integrated navigation systems. In order to increase the filtering accuracy of the model, a variable fading factor fading filter based on the fading factor is proposed. It adjusts the fading factor by the ratio of the estimated covariance before and after the moment which proves to have excellent performance in our experiment. An extreme learning machine based on a Fourier orthogonal basis function is introduced that considers the deterioration of the accuracy of the navigation system during GPS outages and has a higher positioning accuracy and faster learning speed than the typical neural network learning algorithm. In the end, a simulation and real road test are performed to verify the effectiveness of this algorithm. The results show that the accuracy of the fading filter based on a variable fading factor is clearly improved, and the proposed improved ELM algorithm can provide position corrections during GPS outages more effectively than the other algorithms (ELM and the traditional radial basis function neural network). View Full-Text
Keywords: fading filter; extreme learning machine; GPS/INS; integrated navigation fading filter; extreme learning machine; GPS/INS; integrated navigation
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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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Wang, D.; Xu, X.; Zhu, Y. A Novel Hybrid of a Fading Filter and an Extreme Learning Machine for GPS/INS during GPS Outages. Sensors 2018, 18, 3863.

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