Error Prediction and Simulation of Strapdown Inertial Navigation System Based on Deep Neural Network

In order to address the problem of error accumulation in long-duration autonomous navigation using Strapdown Inertial Navigation Systems (SINS), this paper proposes an error prediction and correction method based on Deep Neural Networks (DNN). A 12-dimensional feature vector is constructed using angular increments, velocity increments, and real-time attitude and velocity states from the inertial navigation system, while a 9-dimensional response vector is composed of attitude, velocity, and position errors. The proposed DNN adopts a feedforward architecture with two hidden layers containing 10 and 5 neurons, respectively, using ReLU activation functions and trained with the Levenberg–Marquardt algorithm. The model is trained and validated on a comprehensive dataset comprising 5 × 10³ seconds of real vehicle motion data collected at 100 Hz sampling frequency, totaling 5 × 10⁵ sample points with a 7:3 train-test split. Experimental results demonstrate that the DNN effectively captures the nonlinear propagation characteristics of inertial errors and significantly outperforms traditional SINS and LSTM-based methods across all dimensions. Compared to pure SINS calculations, the proposed method achieves substantial error reductions: yaw angle errors decrease from 2.42 × 10⁻² to 1.10 × 10⁻⁴ radians, eastward velocity errors reduce from 455 to 4.71 m/s, northward velocity errors decrease from 26.8 to 4.16 m/s, latitude errors reduce from 3.83 × 10⁻³ to 7.45 × 10⁻⁴ radians, and longitude errors reduce dramatically from 3.82 × 10⁻² to 1.5 × 10⁻⁴ radians. The method also demonstrates superior performance over LSTM-based approaches, with yaw errors being an order of magnitude smaller and having significantly better trajectory tracking accuracy. The proposed method exhibits strong robustness even in the absence of external signals, showing high potential for engineering applications in complex or GPS-denied environments.