Aiming to improve positioning precision of the GPS/INS integrated navigation system during GPS outages, a novel model combined with strong tracking Kalman filter (STKF) and wavelet neural network (WNN) algorithms for INS errors compensation is proposed and tested. STKF is used to estimate INS errors as a replacement of Kalman filter (KF), and WNN is applied to establish a highly accurate model ...

A Kalman filter (KF) enhanced by the Gaussian process regression (GPR) technique is suggested to bridge GPS-outages in navigation solutions where inertial navigation systems (INS) and GPS are integrated. A KF utilises linearised dynamic models. If a low-cost MEMS-based INS with complex stochastic nonlinearity is considered, performance degrades significantly during short periods of GPSoutages o...

GNSS augmentation systems that provide integrity guarantees to users typically assume that all GNSS satellites have the same failure probability. The assumed failure probability is conservative such that variations among satellites in a given GNSS constellation are not expected to violate this assumption. A study of unscheduled GPS satellite outages from 1999 to present shows that, as expected,...

accuracy of inertial navigation system (ins) is limited by inertial sensors imperfections. before using inertial sensors signals in the data fusion algorithm, noise removal method should be performed, in which, wavelet decomposition method is used. in this method the raw data is decomposed into high and low frequency data sets. in this study, wavelet multi-level resolution analysis (wmra) techn...

The concept of using the steering angle sensor to enhance positioning accuracy during Global Positioning System (GPS) outages is the focus of this article. This development of a GPS Micro-Electro-Mechanical Systems Inertial Measurement Unit (MEMS IMU) steering angle sensor vehicular positioning system is discussed in detail including the error dynamics and measurement models as well as integrat...

This paper presents a purely photogrammetric strategy to orient short image sequences in a MM van equipped with two GPS receivers and a pair of synchronized cameras but currently still lacking an IMU. The motivation for this is twofold: bridge over short GPS outages, so increasing the vehicle productivity; improving the consistency of image georeferencing between consecutive image pairs, which ...

One of the advantages of GPS/INS integration is that the integrated solution can provide continuous navigation capability even during GPS outages. However, bridging the GPS outages is still a challenge when MEMS inertial sensors are used. Methods being currently explored by the research community include applying vehicle dynamics constraints, optimal smoother, and neural network (NN) algorithms...

It is difficult to accurately reckon vehicle position for vehicle navigation system (VNS) during GPS outages, a novel prediction algorithm of dead reckon (DR) position error is put forward, which based on Bayesian regularization back-propagation (BRBP) neural network. DR, GPS position data are first denoised and compared at different stationary wavelet transformation (SWT) decomposition level, ...

A modern mobile mapping system needs a navigation component to provide accurate geo-referencing to the imaging sensors. To achieve centimetre-level positioning accuracy RTK-GPS is a natural choice. However, RTK-GPS in urban areas suffers from frequent outages and accuracy degradation. Integration of an INS and GPS can bridge the GPS outages and maintain accuracy over short time periods. This pa...

Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) technologies can overcome the drawbacks of the individual systems. One of the advantages is that the integrated solution can provide continuous navigation capability even during GPS outages. However, bridging the GPS outages is still a challenge when Micro-Electro-Mechanical System (MEMS) inertial sensors are us...