We have located links that may give you full text access.
An Optimal Radial Basis Function Neural Network Enhanced Adaptive Robust Kalman Filter for GNSS/INS Integrated Systems in Complex Urban Areas.
Sensors 2018 September 14
Inertial Navigation System (INS) is often combined with Global Navigation Satellite System (GNSS) to increase the positioning accuracy and continuity. In complex urban environments, GNSS/INS integrated systems suffer not only from dynamical model errors but also GNSS observation gross errors. However, it is hard to distinguish dynamical model errors from observation gross errors because the observation residuals are affected by both of them in a loosely-coupled integrated navigation system. In this research, an optimal Radial Basis Function (RBF) neural network-enhanced adaptive robust Kalman filter (KF) method is proposed to isolate and mitigate the influence of the two types of errors. In the proposed method, firstly a test statistic based on Mahalanobis distance is treated as judging index to achieve fault detection. Then, an optimal RBF neural network strategy is trained on-line by the optimality principle. The network's output will bring benefits in recognizing the above two kinds of filtering fault and the system is able to choose a robust or adaptive Kalman filtering method autonomously. A field vehicle test in urban areas with a low-cost GNSS/INS integrated system indicates that two types of errors simulated in complex urban areas have been detected, distinguished and eliminated with the proposed scheme, success rate reached up to 92%. In particular, we also find that the novel neural network strategy can improve the overall position accuracy during GNSS signal short-term outages.
Full text links
Related Resources
Trending Papers
Heart failure with preserved ejection fraction: diagnosis, risk assessment, and treatment.Clinical Research in Cardiology : Official Journal of the German Cardiac Society 2024 April 12
Proximal versus distal diuretics in congestive heart failure.Nephrology, Dialysis, Transplantation 2024 Februrary 30
World Health Organization and International Consensus Classification of eosinophilic disorders: 2024 update on diagnosis, risk stratification, and management.American Journal of Hematology 2024 March 30
Efficacy and safety of pharmacotherapy in chronic insomnia: A review of clinical guidelines and case reports.Mental Health Clinician 2023 October
Get seemless 1-tap access through your institution/university
For the best experience, use the Read mobile app
All material on this website is protected by copyright, Copyright © 1994-2024 by WebMD LLC.
This website also contains material copyrighted by 3rd parties.
By using this service, you agree to our terms of use and privacy policy.
Your Privacy Choices
You can now claim free CME credits for this literature searchClaim now
Get seemless 1-tap access through your institution/university
For the best experience, use the Read mobile app