TY - GEN
T1 - State Estimation of ALV integrated navigation system based on bp neural network
AU - Wang, Meiling
AU - Fu, Yongwei
PY - 2008
Y1 - 2008
N2 - In this paper, a data fusion method based on BP neural network and DR is proposed for ALV's navigation. Mathematical models have been established for data fusion. When GPS is valid, neural network is adopted, which is three layered network with 5 input/ 3 output neurons with a single hidden layer. When GPS is invalid, DR is introduced by using outputs of IMU and milometer and initial information from BP network. Training and simulation are made with this BP network using the BP network program compiled with MATLAB, and experimental results indicate that the accuracy of integrated system has been improved in comparison with separate GPS and DR (navigation accuracy of DR has not been shown in this paper).
AB - In this paper, a data fusion method based on BP neural network and DR is proposed for ALV's navigation. Mathematical models have been established for data fusion. When GPS is valid, neural network is adopted, which is three layered network with 5 input/ 3 output neurons with a single hidden layer. When GPS is invalid, DR is introduced by using outputs of IMU and milometer and initial information from BP network. Training and simulation are made with this BP network using the BP network program compiled with MATLAB, and experimental results indicate that the accuracy of integrated system has been improved in comparison with separate GPS and DR (navigation accuracy of DR has not been shown in this paper).
KW - BP neural network
KW - Data fusion
KW - Global positioning system
KW - Integrated navigation system
UR - http://www.scopus.com/inward/record.url?scp=67449152492&partnerID=8YFLogxK
U2 - 10.1109/ISDA.2008.97
DO - 10.1109/ISDA.2008.97
M3 - Conference contribution
AN - SCOPUS:67449152492
SN - 9780769533827
T3 - Proceedings - 8th International Conference on Intelligent Systems Design and Applications, ISDA 2008
SP - 682
EP - 686
BT - Proceedings - 8th International Conference on Intelligent Systems Design and Applications, ISDA 2008
T2 - 8th International Conference on Intelligent Systems Design and Applications, ISDA 2008
Y2 - 26 November 2008 through 28 November 2008
ER -