Adaptive Cubature Kalman Filter for Inertial/Geomagnetic Integrated Navigation System Based on Long Short-Term Memory Network
Source abstract
Abstract
Inertial navigation systems experience error accumulation over time, leading to the use of integrated navigation as a classical solution to mitigate inertial drift. This provides a novel approach to navigation and positioning by using the combined advantages of inertial and geomagnetic navigation systems. However, inertial/geomagnetic navigation is affected by significant magnetic interference in practical scenarios, resulting in reduced navigation accuracy. This research introduces a new neural network-assisted integrated inertial–geomagnetic navigation method (IM-NN), and utilizes the adaptive cubature Kalman filter to integrate attitude information from geomagnetism and inertial sensors. A model was created utilizing a Long Short-Term Memory Network (LSTM) to represent the relationship between specific force, angular velocity, and integrated navigation attitude information. The dynamics were estimated based on current and previous Inertial Measurement Unit (IMU) data using IM-NN. This study demonstrated that the method effectively corrected inertial accumulation errors and mitigated geomagnetic disruption, resulting in a more accurate and dependable navigation solution in environments with geomagnetic rejection compared to conventional single inertial navigation methods.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Inertial Sensor and Navigation · Target Tracking and Data Fusion in Sensor Networks · Geophysics and Gravity Measurements
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
State Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of CETC, Shijiazhuang 050081, China
State Key Laboratory of Dynamic Measurement Technology, North University of China, Taiyuan 030051, China
School of Information and Communication Engineering, North University of China, Taiyuan 030051, China
Funding
Innovative Research Group Project of National Natural Science Foundation of China · Excellent Youth Foundation of Shanxi Province · key research and development project of Shanxi Province · fundamental research program of Shanxi Province · Aviation Science Foundation · foundation of the State Key Laboratory of Satellite Navigation System and Equipment Technology · Shanxi Province key laboratory of quantum sensing and precision measurement
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