High dynamic GPS/INS integrated navigation fusion algorithm assisted by neural network

The phenomena of the disconvergency of Kalman filter occurs in case of lock-lose or absence in GPS(global positioning system) navigation based on carrier phases in the high dynamic environment. We propose a new method to enhance the performance of GPS/IN S(intertial navigation system) integrated navigation system during the GPS signal loss. The method is based on using a ANN(artificial neural netwok) to intelligently aid the GPS/INS integrated navigation system in the absence of GPS signal.The ANN is trained in every filter period during the GPS signal on;When the GPS is off,The output of the previously trained ANN is as the input of the same Kalman filter. The proposed enhanced GPS/INS can be used in the high dynamic environment of a autonomous carrier.A simulation indicates that the method is valid.