Affiliation:
1. The State Key Laboratory of Dynamic Measurement Technology, and The School of Instrument and Electronics, North University of China, Taiyuan 030051, China
Abstract
To suppress inertial navigation system drift and improve the seamless navigation capability of microelectromechanical system-inertial navigation systems/geomagnetic navigation systems (MEMS-INS/MNS) in geomagnetically unlocked environments, this paper proposes a hybrid seamless MEMS-INS/MNS strategy combining a strongly tracked square-root cubature Kalman filter with deep self-learning (DSL-STSRCKF). The proposed DSL-STSRCKF method consists of two innovative steps: (i) The relationship between the deep Kalman filter gain and the optimal estimation is established. In this paper, combining the two auxiliary methods of strong tracking filtering and square-root filtering based on singular value decomposition, the heading accuracy error of ST-SRCKF can reach 1.29°, which improves the heading accuracy by 90.10% and 9.20% compared to the traditional single INS and the traditional integrated navigation algorithm and greatly improves the robustness and computational efficiency. (ii) Providing deep self-learning capability for the ST-SRCKF by introducing a nonlinear autoregressive neural network (NARX) with exogenous inputs, which means that the heading accuracy can still reach 1.33° even during the MNS lockout period, and the heading accuracy can be improved by 89.80% compared with the single INS, realizing the continuous high-precision navigation estimation.
Funder
National Natural Science Foundation of China
the Excellent Youth foundation of Shanxi Province
Subject
Electrical and Electronic Engineering,Mechanical Engineering,Control and Systems Engineering