An Artificial Neural Network Embedded Position and Orientation Determination Algorithm for Low Cost MEMS INS/GPS Integrated Sensors.
An Artificial Neural Network Embedded Position and Orientation Determination Algorithm for Low Cost MEMS INS/GPS Integrated Sensors.
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DOI：
10.3390/s90402586
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Huang YW
中科院分区：
文献类型：
--
作者：
Chiang KW;Chang HW;Li CY;Huang YW
在过去的15年里，数字移动测绘技术得到了迅速发展，它将数字成像与直接地理参考相结合。直接地理参考是确定移动数字成像仪随时间变化的位置和方向参数。目前用于这一目的的最常用技术是使用全球定位系统（GPS）的卫星定位和使用惯性测量单元（IMU）的惯性导航系统（INS）。它们通常以这样一种方式集成，GPS接收器是主要的位置传感器，而IMU是主要的方向传感器。卡尔曼滤波（KF）被认为是实时确定INS/GPS综合运动位置和姿态的最优估计工具。为了克服以往研究中KF算法的局限性，提高INS/GPS综合系统的性能，提出了一种由人工神经网络（ANN）和KF算法组成的智能混合方案。然而，即使使用ANN-KF方案，也很难达到一般移动地图应用的精度要求。因此，本研究提出了一种将人工神经网络嵌入传统的Rauch-Tung-Striebel （RTS）平滑器的智能定位和定向方案，以提高MEMS INS/GPS集成系统在任务后模式下的整体精度。通过将微机电系统（MEMS） INS/GPS集成系统与本研究提出的智能ANN-RTS平滑方案相结合，可以预期一种更便宜但仍具有合理精度的位置和方向确定方案。
Digital mobile mapping, which integrates digital imaging with direct geo-referencing, has developed rapidly over the past fifteen years. Direct geo-referencing is the determination of the time-variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning using Global Positioning System (GPS) and Inertial Navigation System (INS) using an Inertial Measurement Unit (IMU). They are usually integrated in such a way that the GPS receiver is the main position sensor, while the IMU is the main orientation sensor. The Kalman Filter (KF) is considered as the optimal estimation tool for real-time INS/GPS integrated kinematic position and orientation determination. An intelligent hybrid scheme consisting of an Artificial Neural Network (ANN) and KF has been proposed to overcome the limitations of KF and to improve the performance of the INS/GPS integrated system in previous studies. However, the accuracy requirements of general mobile mapping applications can’t be achieved easily, even by the use of the ANN-KF scheme. Therefore, this study proposes an intelligent position and orientation determination scheme that embeds ANN with conventional Rauch-Tung-Striebel (RTS) smoother to improve the overall accuracy of a MEMS INS/GPS integrated system in post-mission mode. By combining the Micro Electro Mechanical Systems (MEMS) INS/GPS integrated system and the intelligent ANN-RTS smoother scheme proposed in this study, a cheaper but still reasonably accurate position and orientation determination scheme can be anticipated.
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DOI：
10.3390/s8042240
发表时间：
2008-03-29
期刊：
Sensors (Basel, Switzerland)
影响因子：
--
作者：
Park M;Gao Y
通讯作者：
Gao Y
影响因子：
2.4
作者：
Chiang, KW;Noureldin, A;El-Sheimy, N
通讯作者：
El-Sheimy, N
影响因子：
2.4
作者：
Shin, EH;El-Sheimy, N
通讯作者：
El-Sheimy, N
影响因子：
2.6
作者：
BARITZHACK, IY;BERMAN, N
通讯作者：
BERMAN, N