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EVALUATION WITH EXPERIMENTAL DATA OF AN ANFIS BASED INS/GPS INTEGRATED NAVIGATOR
Abstract
The paper presents the evaluation with experimental data of an ANFIS based INS/GPS integrated navigator. The experimental model of the INS/GPS navigator has been manufactured in the Aerospace Engineering laboratories of the University of Craiova, Romania, during a research project. This hardware structure was developed around an inertial module (inertial detection unit) incorporating three analogous miniaturized inertial sensors (LPY510AL - Biaxial analog gyro, LPR510AL - Biaxial analog gyro, MMA7361L ? Three-axial analog accelerometer), by adding a GPS module (u-blox NEO-6M) and a dsPIC33EP512MU810 microcontroller. The data from inertial sensors were acquired with a sample rate of 100 samples/s, while the GPS receiver provided data once per second. To equalize the sampling rate of the two systems before the data fusion, an ANFIS extrapolator for the GPS lost data has been used. Boarded on a testing car, in a first phase the system provided the experimental data necessary to tune the ANFIS based data fusion algorithm. The training data were provided by the system clock, by the six channels of the inertial detection unit, by the attitude information and by the estimates of the positioning and speed errors obtained at the output of the Kalman filter included in the integrated navigator. The ANFIS structure includes six channels, each one with a Fuzzy Inference System (FIS), estimating the navigation errors for global position components (latitude, longitude and altitude) and for vehicle speed in North, East and Down directions. The navigator has been successfully tested with experimental data acquired in three different scenarios: open sky detection (access to GPS signal all the time), GPS signal interruption, INS detection only.
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