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ABSTRACT

Global Positioning System (GPS) is a widely used satellite

navigation system. However, GPS will not provide a continuous and reliable

positioning at all the times as it is likely to be observed by buildings, mountains

etc. Inertial Navigation System (INS) provides continuous information of

position, velocity and altitude at all the times. However, the performance of

INS deteriorates with time due to the performance about the inertial sensors.

GPS/INS Integration provides a reliable navigation solution by overcoming

each of these shortcomings, when it acts as a stand-alone system, including

signal blockage in case of GPS and increased positional errors with time for

INS. Though GPS/INS Integration has been attempted by several researchers, it

still faces challenges, especially where navigation has to be done for

maneuvering targets. Existing GPS/INS Integration using Kalman Filter (KF)

can give correct results only when the system dynamic models are completely

known.

For highly maneuvering targets, navigation is provided using

Interactive Multiple Model (IMM). The existing IMM-Unscented Kalman

Filter (UKF) with Constant Acceleration (CA) model and Coordinated Turn

(CT) model is connected in parallel with an appropriate switching probability.

IMM obtains its estimate as a weighted sum of individual estimates from the
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filters matched to different motion models of the target. In order to further

enhance the performance of IMM-UKF, this thesis proposes a Two Filter

Smoothing (TFS) based IMM-UKF. The proposed IMM-UKF-TFS uses

forward and backward smoothing to further improve the positional accuracy by

reducing navigation error.

Even though the KF based GPS/INS Integration provides a robust

solution to navigation, it requires an accurate INS error model, which increases

the complexity of the system. To overcome the complexity of the system,

Neural Networks based GPS/INS Integration solutions are available in the

literature. In the existing Feed Forward based Neural Network solution, the

architecture is static and the training algorithm takes more time for

convergence. Hence this thesis proposes a Recurrent Neural Network (RNN) -

Jordon based solution for GPS/INS Integration. To reduce the time complexity,

selection of Jordan-RNN parameters such as weight, bias are obtained using

Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). From the

experimental results, it is found that, the PSO aided Jordon-RNN gives better

error convergence than the GA aided Jordon-RNN. Also, the proposed Jordon-

RNN gives a better position results than Elman and Back Propagation Network

(BPN).

Though Neural Network overcomes the problem of error modeling, it

lacks adaptability. To make it adaptable, Genetic Algorithm based Adaptive

Neuro Fuzzy Inference System (GANFIS) is available in the literature.

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However, the existing GANFIS has poor error convergence. This is due to the

non-availability of a suitable methodology for choosing the correct

chromosome that minimizes the positional error. Chromosome constitutes an

entire Adaptive Neuro Fuzzy Inference System (ANFIS) structure, which

consists of premise and consequence parameters. Hence, this thesis proposes a

novel method called Memetic Algorithm (MA) based ANFIS (MANFIS),

which outperforms the GANFIS as it uses double evaluation and field

representation of chromosome in the selection process.

All the above proposed methods have been simulated in MATLAB

environment and the results have been validated.