A method to prevent GPS/INS integrated navigation filtering divergence based on SVM

作者：Li Zengke^*; Wang Jian; Gao Jingxiang; Tan Xinglong

来源：Geomatics and Information Science of Wuhan University, 2013, 38(10): 1216-1220.

• Filter divergence
• GPS signals
• GPS/INS
• Integrated navigation
• Kalman-filtering
• Navigation accuracy
• Vehicle motion
• Vehicle movements

A GPS/INS integrated navigation model is introduced in order to verify the navigation ability in the condition of low GPS signal update frequency. The GPS signal break period were chosen 5 s, 10 s and 15 s during the vehicle motion, which has demonstrated that long signal interruption interval (above 10 s) will lead to the Kalman filtering divergence after GPS signal reconstruction. Considering that the integrated navigation model has favorable effect in high GPS signal update frequency, a new method is proposed to prevent the filtering divergence. The approach adopted extensively is called support vector machine (SVM) interpolating the GPS signal based on vehicle movement discipline. These findings of the research have led the author to the conclusion that SVM is able to increase the GPS signal update frequency to prevent the filtering divergence caused by long GPS signal interruption interval and strengthen the navigation accuracy.

• 出版日期2013
• 单位中国矿业大学（北京）