An ANN embedded RTS smoother for an INS/GPS integrated Positioning and Orientation System
An ANN embedded RTS smoother for an INS/GPS integrated Positioning and Orientation System
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DOI：
10.1016/j.asoc.2010.10.011
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发表时间：
2011-03-01
影响因子：
8.7
通讯作者：
Chang, Hsiu-Wen
中科院分区：
文献类型：
--
作者：
Chiang, Kai-Wei;Huang, Yun-Wen;Chang, Hsiu-Wen
数字移动的测绘将数字成像与直接地理参照相结合，在过去十五年中发展迅速。直接地理参考是确定用于移动的数字成像器的时变位置和定向参数。目前用于此目的的最常见技术是通过GPS进行卫星定位和使用IMU进行惯性导航。它们通常以这样的方式集成，即GPS接收器是主要的位置传感器，而IMU是主要的方向传感器。KF被认为是实时INS/GPS组合动态定位定向的最佳估计工具。另一方面，在后使命处理中，来自整个使命的数据可用于估计轨迹。在第一步滤波时，可采用最优平滑算法，以提高移动的测图精度。针对卡尔曼滤波的局限性，提出了一种由人工神经网络和卡尔曼滤波器组成的智能混合滤波方案，以提高INS/GPS组合导航系统的性能。然而，一般的移动的地图应用的精度要求，不能很容易地实现，即使通过使用ANN-KF方案。因此，本研究提出了一个人工神经网络嵌入RTS向后平滑，以提高整体精度的POS参数的战术级INS/GPS组合系统在任务后模式。结合本研究所提出的战术级INS/GPS组合系统与智能POS方案，可以预期一种廉价但精度合理的POS。(C)2010 Elsevier B. V.保留所有权利。
Digital mobile mapping, which integrates digital imaging with direct geo-referencing, has developed rapidly over the past fifteen years. The direct geo-referencing is the determination of time variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning by GPS and inertial navigation using an 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. KF is considered the optimal estimation tool for teal-time INS/GPS integrated kinematic positioning and orientation determination. In post-mission processing, on the other hand, data from the whole mission can be used to estimate the trajectory. When filtering is used in the first step, an optimal smoothing algorithm can be applied to achieve higher accuracy for mobile mapping applications.An intelligent and hybrid scheme consisting of an ANN and KF is proposed to overcome the limitations of KF and to improve the performance of an INS/GPS integrated system from a previous study. However, the accuracy requirements of general mobile mapping applications cannot be achieved easily even by using an ANN-KF scheme. Therefore, this study proposes an ANN embedded RTS backward smoother to enhance the overall accuracy of POS parameters for a tactical grade INS/GPS integrated system in a post-mission mode. Combing the tactical grade INS/GPS integrated system and intelligent POS scheme proposed in this study, a cheap but reasonably accurate POS can be anticipated. (C) 2010 Elsevier B.V. All rights reserved.