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The document presents a hybrid algorithm combining a gated recurrent unit (GRU) and adaptive Kalman filter (AKF) to enhance the accuracy of INS/GNSS navigation during GNSS outages. The proposed method predicts position variations using the GRU and mitigates error accumulation with the AKF, demonstrating significant improvements over traditional algorithms. Testing shows that the GRU-aided AKF reduces horizontal error by 31.71% and 16.12% after 180 and 120 seconds of GNSS outage, respectively.

Author

caip.batch7

Language

EN