Improved LSTM Neural Network-Assisted Combined Vehicle-Mounted GNSS/SINS Navigation and Positioning Algorithm
Abstract
:1. Introduction
2. Relevant Basic Theory
2.1. Kalman Filtering
2.2. Long- and Short-Term Memory Network LSTM Model
3. Design of GNSS/SINS Combined Navigation Algorithm Scheme with Improved LSTM
3.1. Improved LSTM Model
3.2. Improved LSTM-Assisted Combined Navigation and Positioning Model
3.3. Combined Navigation Filtering Design under No GNSS Signal Conditions
3.3.1. Equation of State for Combined GNSS/SINS Navigation Systems
3.3.2. Measurement Equations for Combined GNSS/SINS Navigation Systems
4. Algorithm Validation
4.1. Overview of On-Board Experiments
4.2. Onboard Offline Data Processing
4.3. Analysis of the Results of the On-Board Experiments
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Data Availability Statement
Conflicts of Interest
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Parameters | Numerical Values | Unit |
---|---|---|
Gyroscope constant zero offset | 10 | °/h |
Gyroscope range | 250 | °/s |
Accelerometer constant zero offset | 0.1 | mg |
Accelerometer range | 4 | g |
Algorithm Comparison | Maximum Absolute Value of Error/m | Root Mean Square Error/m |
---|---|---|
Eastward position SINS error | 86.931 | 25.914 |
Eastward position LSTM assisted prediction error | 0.933 | 0.288 |
Eastward position improvement LSTM-aided prediction error | 0.886 | 0.163 |
Northward position SINS error | 75.821 | 24.146 |
Northward position LSTM assisted prediction error | 6.295 | 2.201 |
Northward position improvement LSTM-aided prediction error | 2.099 | 0.976 |
Algorithm Comparison | Maximum Absolute Value of Error/m | Root Mean Square Error/m |
---|---|---|
Eastward position SINS error | 65.319 | 19.611 |
Eastward position LSTM assisted prediction error | 7.192 | 2.159 |
Eastward position improvement LSTM-aided prediction error | 3.105 | 0.977 |
Northward position SINS error | 102.055 | 37.472 |
Northward position LSTM assisted prediction error | 10.354 | 2.608 |
Northward position improvement LSTM-aided prediction error | 5.368 | 1.023 |
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Song, L.; Xu, P.; He, X.; Li, Y.; Hou, J.; Feng, H. Improved LSTM Neural Network-Assisted Combined Vehicle-Mounted GNSS/SINS Navigation and Positioning Algorithm. Electronics 2023, 12, 3726. https://doi.org/10.3390/electronics12173726
Song L, Xu P, He X, Li Y, Hou J, Feng H. Improved LSTM Neural Network-Assisted Combined Vehicle-Mounted GNSS/SINS Navigation and Positioning Algorithm. Electronics. 2023; 12(17):3726. https://doi.org/10.3390/electronics12173726
Chicago/Turabian StyleSong, Lijun, Peiyu Xu, Xing He, Yunlong Li, Jiajie Hou, and Haoyu Feng. 2023. "Improved LSTM Neural Network-Assisted Combined Vehicle-Mounted GNSS/SINS Navigation and Positioning Algorithm" Electronics 12, no. 17: 3726. https://doi.org/10.3390/electronics12173726
APA StyleSong, L., Xu, P., He, X., Li, Y., Hou, J., & Feng, H. (2023). Improved LSTM Neural Network-Assisted Combined Vehicle-Mounted GNSS/SINS Navigation and Positioning Algorithm. Electronics, 12(17), 3726. https://doi.org/10.3390/electronics12173726