The Open Loop Design for an ANN-RTS Smoother Hybrid Scheme for Accurate INS/GPS Integrated Attitude Determination

Yung-Cheng Lin

Abstract:	Digital mobile mapping, the methodology that integrates digital imaging with direct geo-referencing, has developed rapidly over the past fifteen years. Direct georeferencing is the determination of the time-variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning by GPS and inertial navigation using an IMU. They are usually integrated in such a way that the GPS receiver is the main position sensor, while the IMU is the main orientation sensor. KF has been considered as the optimal estimation tool for real-time INS/GPS integrated kinematic positioning and orientation determination. Post-mission processing, on the other hand, has the advantage of using data of the whole mission to estimate the trajectory. When filtering has been used in a first step, one of the optimal smoothing algorithms can be applied to achieve higher accuracy for mobile mapping applications. An intelligent and hybrid scheme consisting of the ANN and KF had been proposed to overcome the limitations of the KF and improve the performance of an INS/GPS integrated system successfully in the previous study. However, the accuracy requirements of general mobile mapping applications cannot be achieved easily even by using the ANN-KF scheme. Therefore, this study proposes an open loop design for an intelligent and hybrid scheme consisting of the ANN and RTS backward smoother to enhance the overall accuracy of attitude determination for a tactical grade INS/GPS integrated system in a post-mission mode. Combing a tactical grade INS/GPS integrated system used and the intelligent scheme proposed in this study, a cheaper but reasonably accurate orientation can be achieved.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	2550 - 2562
Cite this article:	Lin, Yung-Cheng, "The Open Loop Design for an ANN-RTS Smoother Hybrid Scheme for Accurate INS/GPS Integrated Attitude Determination," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 2550-2562.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In