A Hybrid Model and Learning-Based Adaptive Navigation Filter

• Published in: IEEE transactions on instrumentation and measurement Vol. 71; pp. 1 - 11
• Main Authors: Or, Barak, Klein, Itzik
• Format: Journal Article
• Language: English
• Published: New York IEEE 2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive algorithm; Artificial neural networks; Covariance; deep neural network (DNN); Drone vehicles; Extended Kalman filter; Global navigation satellite system; global navigation satellite system (GNSS); inertial measurement unit (IMU); Inertial navigation; inertial navigation system (INS); Inertial sensing devices; Kalman Filter; Kalman filters; Machine learning; machine learning (ML); Navigation; Navigation satellites; Navigation systems; Noise measurement; Position errors; quadcopter; supervised learning (SL); unmanned autonomous vehicles; Vehicle dynamics; vehicle tracking

The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms, such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended Kalman filter framework. One of the critical parameters of the...