Improving positioning accuracy of vehicular navigation system during GPS outages utilizing ensemble learning algorithm

Recently, methods based on Artificial Intelligence (Al) have been widely used to improve positioning accuracy for land vehicle navigation by integrating the Global Positioning System (GPS) with the Strapdown Inertial Navigation System (SINS). In this paper, we propose the ensemble learning algorithm instead of traditional single neural network to overcome the limitations of complex and dynamic data cased by vehicle irregular movement. The ensemble learning algorithm (LSBoost or Bagging), similar to the neural network, can build the SINS/GPS position model based on current and some past samples of SINS velocity, attitude and IMU output information. The performance of the proposed algorithm has been experimentally verified using GPS and SINS data of different trajectories collected in some land vehicle navigation tests. The comparison results between the proposed model and traditional algorithms indicate that the proposed algorithm can improve the positioning accuracy for cases of SINS and specific GPS outages. (C) 2016 Elsevier B.V. All rights reserved.