Integrated Navigation of Mobile Robot Based on Neural Network and Fault Detection

摘要：

When global positioning system (GPS) signal outages, the integrated navigation accuracy of GPS and strapdown inertial navigation system (SINS) will decline with time, and even navigation system cannot work. To avoid this, a new design is introduced. When GPS works normally, square root filter estimates the errors of position, velocity and attitude and compensates the outputs of SINS. When GPS is out of order, back propagation neural network (BPNN) will take the place of GPS to calculate the error parameters, thus the accuracy of navigation will enhance. And in this paper, the unit of fault detection is added to detect whether GPS signal outages or not. The simulation results show the effectiveness of this method.

关键词： integrated navigation GPS/SINS neural network fault detaction

作者: Hong-mei Wang Ming-zhu Zhang Guang-zhu Meng

作者单位: School of Mechanical Engineering. Hebei University of Technology Tianjin, China School of Electrica School of Mechanical Engineering. Hebei University of Technology Tianjin, China

会议类型: 国际会议

会议名称: 2011 International Conference on Manufacturing and Industrial Engineering(ICMIE 2011)(2011年制造及工业工程国际会议)

会议地点: 海口

会议语种:英文

页码: 522-525

在线出版日期: 2011-02-22（万方平台首次上网日期，不代表论文的发表时间）