Title :
Real-time INS/GPS data fusion using hybrid adaptive network based fuzzy inference
Author :
Malleswaran, M. ; Anita, J. Mary ; Sabreen, S.N. ; Vaidehi, V.
Author_Institution :
Dept of Electr. Eng., Embedded Syst., Anna Univ. Tirunelveli, Tirunelveli, India
Abstract :
Kalman filter is used to integrate the data from inertial navigation systems (INS) and global position systems (GPS) for vehicle navigation to provide position, velocity and attitude. However several drawbacks of Kalman filter such as noise, modeling of the system, initial noise parameter are restricted its application and implementation. In this paper the real time implementation of GPS/INS integration using a hybrid Adaptive Neuro Fuzzy Inference System (ANFIS) is proposed. The proposed system is trained during the availability of GPS signal to map the error between the GPS and the INS. Then it will be used to predict the error of the INS position components during GPS signal blockage. The data from GPS and INS are used to build a structured knowledge base consisting of behavior of the INS in some special scenarios of vehicle motion. In the absence of the GPS information, the system will perform its task only with the data from INS and with the trained data provided by ANFIS. The system is evaluated while considering several intentionally introduced GPS outages for periods of 50 seconds, with the position accuracy mostly below 0.2m. The simulated results show the advantages of the proposed method of ANFIS techniques for INS/GPS integration.
Keywords :
Global Positioning System; Kalman filters; fuzzy reasoning; inertial navigation; knowledge based systems; sensor fusion; traffic engineering computing; ANFIS techniques; Kalman Alter; adaptive neuro fuzzy inference system; global position systems; inertial navigation systems; real-time GPS data fusion; real-time INS data fusion; vehicle navigation; Accuracy; Global Positioning System; Kalman filters; Real time systems; Training; Vehicles; ANFIS; Data Fusion; INS/GPS;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707296