Vehicle Location Algorithm Based on Federated Learning and Smart Phone in GNSS Low Sampling Rate Scene

Abstract

Abstract In the existing vehicle positioning system based on Global Navigation Satellite System/Inertial Navigation System (GNSS/INS), when the GNSS signal is lost, the error accumulated by using only the INS will damage the positioning accuracy. In order to improve the accuracy, this paper proposed a positioning method based on data-driven and learning models, which utilized distributed data sets to collaboratively construct accurate positioning models through federated fusion algorithms without sacrificing user privacy. In the field scenarios of IID and Non-IID types, this paper compared the performance of INS and the existing two typical methods, DeepSense and PVAUA, it is verified that the two federated learning algorithm models constructed had higher positioning accuracy in different scenarios and different GNSS signal loss durations. The results were analyzed.