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Rev Sci Instrum. 2019 Jan;90(1):015101. doi: 10.1063/1.5079889.

Seamless global positioning system/inertial navigation system navigation method based on square-root cubature Kalman filter and random forest regression.

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Key Laboratory of Instrumentation and Science and Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, People's Republic of China.


In this paper, a seamless navigation dual-model based on Square-Root Cubature Kalman Filter (SRCKF) and Random Forest Regression (RFR) is developed to enhance the performance of the Global Positioning System (GPS)/Inertial Navigation System (INS) integrated navigation system. By using the proposed method, the system can ensure seamless navigation ability even during GPS signal outages. In the proposed dual-model, sub-model 1 that directly relates the specific force of INS to the measurement of filter and sub-model 2 that directly relates the cubature points and innovation of SRCKF to the error caused by filter are established. Combined with SRCKF and RFR algorithms, the dual-model system can predict and estimate the velocity and position of the vehicle seamlessly when GPS signals are blocked. Field test data are collected to evaluate the proposed solution, and the experimental results show that the model proposed has obvious improvement in navigation accuracy by comparison. The prominent advantages of the proposed seamless navigation method include the following: (i) the proposed dual-model can effectively provide corrections to standalone INS during GPS outages, which outperforms traditional widely used single model; (ii) the proposed combination of SRCKF and RFR achieves better performance in the prediction of INS errors than other combination algorithms.


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