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

Hong Mei Wang; Ming Lu Zhang; Guang Zhu Meng

doi:10.4028/www.scientific.net/AMR.433-440.3175

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 433-440Integrated Navigation of Mobile Robot Based on...

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

Abstract:

When global positioning system (GPS) signal outages, the integrated navigation accuracy of GPS and strap-down 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

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Periodical:

Advanced Materials Research (Volumes 433-440)

Pages:

3175-3180

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.433-440.3175

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Online since:

January 2012

Authors:

Hong Mei Wang, Ming Lu Zhang, Guang Zhu Meng

Keywords:

Fault Detection, GPS/SINS, Integrated Navigation, Neural Network (NN)

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