Neural network aided adaptive Kalman filter for multi-sensors integrated navigation

The normal Kalman filter (KF) is deficient in adaptive capability, at the same time, the estimation accuracy of the neural network (NN) filter is not very well and the performance depends on the artificial experience excessively. It is proposed to incorporate a back-propagation (BP) neural network into the adaptive federal KF configuration for the SINS/GPS/TAN (Terrain Auxiliary Navigation)/SAR (Synthetic Aperture Radar) integrated navigation system. The proposed scheme combines the estimation capability of adaptive KF and the learning capability of BP NN thus resulting in improved adaptive and estimation performance. This paper addresses operation principle, algorithm and key techniques. The simulation results show that the performance of the BP NN aided filter is better than the stand-alone adaptive Kalman filter's.