TY - GEN
T1 - Data fusion of ALV GPS/DR integrated navigation system based on BP neural network
AU - Wang, Meiling
AU - Fu, Yongwei
PY - 2009
Y1 - 2009
N2 - Integrated navigation system of ALV is discussed in this paper, a data fusion method based on BP (Back Propagation) neural network is proposed for ALV's GPS/DR integrated navigation. System models have been established based on this data fusion method. Integrated navigation system uses GPS parameters as criterion to judge the validity of GPS. When GPS is valid, neural network is adopted for state estimation, which is four-layered network with 5-input/3-output neurons and two hidden layers. When GPS is invalid, DR is introduced by using outputs from IMU and odometer and initial information from BP network. Training and simulation are made with this BP network based integrated navigation system, whose performance is improved according to the simulation. The experimental results indicate that the navigation accuracy of integrated system has been improved in comparison with that of either GPS or DR.
AB - Integrated navigation system of ALV is discussed in this paper, a data fusion method based on BP (Back Propagation) neural network is proposed for ALV's GPS/DR integrated navigation. System models have been established based on this data fusion method. Integrated navigation system uses GPS parameters as criterion to judge the validity of GPS. When GPS is valid, neural network is adopted for state estimation, which is four-layered network with 5-input/3-output neurons and two hidden layers. When GPS is invalid, DR is introduced by using outputs from IMU and odometer and initial information from BP network. Training and simulation are made with this BP network based integrated navigation system, whose performance is improved according to the simulation. The experimental results indicate that the navigation accuracy of integrated system has been improved in comparison with that of either GPS or DR.
KW - ALV
KW - BP neural network
KW - Data fusion1
KW - Dead reckoning
KW - Integrated navigation system
UR - http://www.scopus.com/inward/record.url?scp=67650333025&partnerID=8YFLogxK
U2 - 10.1109/ICIT.2009.4939595
DO - 10.1109/ICIT.2009.4939595
M3 - Conference contribution
AN - SCOPUS:67650333025
SN - 1424435064
SN - 9781424435067
T3 - Proceedings of the IEEE International Conference on Industrial Technology
BT - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
T2 - 2009 IEEE International Conference on Industrial Technology, ICIT 2009
Y2 - 10 February 2009 through 13 February 2009
ER -
