Improving the performance of GPS/INS integration during GPS outage with incremental regularized LSTM learning

Abstract

Global Positioning System (GPS)/Inertial Navigation System (INS) integration is a widely used technique for navigation and positioning applications. It combines the advantages of GPS and INS to provide accurate and reliable information. However, the GPS/INS integration suffers from performance degradation during a GPS outage, which occurs when natural or artificial factors block the GPS signal. The novelty of this paper is improving GPS/INS integration performance during GPS outages using Incremental Regularized LSTM (IncRLSTM) learning. Incremental learning is a learning paradigm that can be learned from streaming data online and updating the model parameters without forgetting the previous ones. Also, regularization is a technique that prevents overfitting and improves the generalization of the network by adding some constraints or penalties to the model. IncRLSTM learning models the GPS signal as a multi-objective regression and corrects the INS output with the Faded Memory Kalman filter. The results on real-world datasets significantly show the reduction of positioning errors by an average of 72 % during GPS outages and the improvement of the accuracy and robustness of GPS/INS integration by an average of 58 % compared with existing methods. Moreover, IncRLSTM presents, on average, a 10 % improvement compared to the existing methods.

Keywords

• LSTM
• Incremental learning
• GPS/INS integration
• Multi-objective regression