| Autor: |
Bangxin Li, Guangwu Chen, Yongbo Si, Xin Zhou, Pengpeng Li, Peng Li, Tobi Fadiji |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 12, Iss 11, p 5565 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app12115565 |
| Popis: |
To solve the problem of data accuracy degradation of vehicle GNSS/INS integrated navigation systems when the GNSS signal is unavailable or there is a GNSS outage, this paper improves the existing GNSS/INS integration methodology for land vehicle navigation based on the AI method. First, a GNSS/INS integration methodology for land vehicle navigation based on position update architecture (PUA) using LightGBM regression for predicting the position of a vehicle during a GNSS outage is presented. It uses LightGBM to model the relationship between INS data and vehicle position changes. On-board INS and GNSS data are collected when the GNSS signal is available and are used to train the PUA-LightGBM model; in the event of a GNSS outage, INS data are used as the input to the PUA-LightGBM to predict the change in vehicle position. Second, a vehicle navigation data acquisition system was designed for model validation. This included a self-developed GNSS/INS integrated navigation system and a Novatel pwrpak7-e1 GNSS/INS integrated navigation system for data acquisition on six road segments. Finally, the collected data were used for machine learning training of the PUA-LightGBM model and the existing PUA-RandomForest model. As a result, the PUA-LightGBM predicts the vehicle position with less error in the event of a GNSS outage and takes less time to train. It was also demonstrated that by allowing the model to be dynamically trained or updated while the vehicle is moving the PUA-LightGBM could adapt perfectly to the predictions of vehicle position changes in different complex road segments. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
