Intelligent fault detection and fusion for INS/GPS navigation system

In this paper, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is proposed for low-cost navigation of ground vehicles. The ANFIS structure is proposed for fusing the measurements of the Global Positioning System (GPS) and inertial measurement unit (IMU). Low-cost GPS receivers provide the position and velocity of the vehicle at a lower rate than the IMU sampled vehicle dynamics. Additionally, the GPS measurements might be missed/delayed due to receiver´s inability to lock on the signal or due to obstruction from neighboring vehicle´s or infrastructures. Therefore, the variable delay between the IMU and GPS signals is selected as an additional input to the ANFIS architecture. The performance of the proposed ANFIS architecture is demonstrated through experimental results. The instrumentation system used in this experiment consists of a microcontroller system, a GPS receiver, and an IMU.