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Open AccessArticle

Fault Identification Ability of a Robust Deeply Integrated GNSS/INS System Assisted by Convolutional Neural Networks

by 1,*, 1 and 2
1
School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, China
2
Department of integrated navigation, Xi’an Modern Control Technology Research Institute, Xi’an 710065, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(12), 2734; https://doi.org/10.3390/s19122734
Received: 17 May 2019 / Revised: 11 June 2019 / Accepted: 13 June 2019 / Published: 18 June 2019
(This article belongs to the Collection Positioning and Navigation)
The problem of fault propagation which exists in the deeply integrated GNSS (Global Navigation Satellite System)/INS (Inertial Navigation System) system makes it difficult to identify faults. Once a fault occurs, system performance will be degraded due to the inability to identify and isolate the fault accurately. After analyzing the causes of fault propagation and the difficulty of fault identification, maintaining correct navigation solution is found to be the key to prevent fault propagation from occurring. In order to solve the problem, a novel robust algorithm based on convolutional neural network (CNN) is proposed. The optimal expansion factor of the robust algorithm is obtained adaptively by utilizing CNN, thus the adverse effect of fault on navigation solution can be reduced as much as possible. At last, the fault identification ability is verified by two types of experiments: artificial fault injection and outdoor occlusion. Experiment results show that the proposed robust algorithm which can successfully suppress the fault propagation is an effective solution. The accuracy of fault identification is increased by more than 20% compared with that before improvement, and the robustness of deep GNSS/INS integration is also improved. View Full-Text
Keywords: deep GNSS/INS integration; fault identification; convolutional neural network; vector tracking loop deep GNSS/INS integration; fault identification; convolutional neural network; vector tracking loop
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MDPI and ACS Style

Zou, X.; Lian, B.; Wu, P. Fault Identification Ability of a Robust Deeply Integrated GNSS/INS System Assisted by Convolutional Neural Networks. Sensors 2019, 19, 2734. https://doi.org/10.3390/s19122734

AMA Style

Zou X, Lian B, Wu P. Fault Identification Ability of a Robust Deeply Integrated GNSS/INS System Assisted by Convolutional Neural Networks. Sensors. 2019; 19(12):2734. https://doi.org/10.3390/s19122734

Chicago/Turabian Style

Zou, Xiaojun; Lian, Baowang; Wu, Peng. 2019. "Fault Identification Ability of a Robust Deeply Integrated GNSS/INS System Assisted by Convolutional Neural Networks" Sensors 19, no. 12: 2734. https://doi.org/10.3390/s19122734

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