ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system

Ahmed El-Shafie, Aini Hussain, Abo Elmagd Nour Eldin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

Presently, Kalman filter (KF) is used to fuse data from both inertial navigation systems (INS) and global positioning systems (GPS) to provide position, velocity and attitude information. However, several drawbacks associated with KF like its immunity to noise, its dependency on predefined errors models, has encouraged research activates towards investigation of other integration techniques. This study proposes and discusses the real-time implementation of adaptive neuro-fuzzy inference system (ANFIS) to fuse GPS and INS data for vehicular navigation applications. The proposed method was examined and compared to KF when applied to Ashtech Z12 GPS receiver and a navigation-grade INS (Honeywell LRF-III) that have been utilized inside a land vehicle. The system is evaluated while considering several intentionally introduced GPS outages for periods of 20 seconds. The ANFIS-based navigation system was able to provide the vehicle position with errors, which were mostly below 2 m. The experimental results demonstrated the advantages of the proposed AI-based INS/GPS integration techniques in regards of robustness while ensuring system position accuracy in real-time.

Original languageEnglish
Title of host publicationICCTD 2009 - 2009 International Conference on Computer Technology and Development
Pages278-282
Number of pages5
Volume2
DOIs
Publication statusPublished - 2009
Event2009 International Conference on Computer Technology and Development, ICCTD 2009 - Kota Kinabalu
Duration: 13 Nov 200915 Nov 2009

Other

Other2009 International Conference on Computer Technology and Development, ICCTD 2009
CityKota Kinabalu
Period13/11/0915/11/09

Fingerprint

Inertial navigation systems
Data fusion
Fuzzy inference
Navigation systems
Global positioning system
Kalman filters
Electric fuses
Navigation
Outages

Keywords

  • Anfis
  • Data fusion
  • INS/GPS
  • Vehicular navigation

ASJC Scopus subject areas

  • Computer Science(all)

Cite this

El-Shafie, A., Hussain, A., & Eldin, A. E. N. (2009). ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system. In ICCTD 2009 - 2009 International Conference on Computer Technology and Development (Vol. 2, pp. 278-282). [5360152] https://doi.org/10.1109/ICCTD.2009.42

ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system. / El-Shafie, Ahmed; Hussain, Aini; Eldin, Abo Elmagd Nour.

ICCTD 2009 - 2009 International Conference on Computer Technology and Development. Vol. 2 2009. p. 278-282 5360152.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

El-Shafie, A, Hussain, A & Eldin, AEN 2009, ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system. in ICCTD 2009 - 2009 International Conference on Computer Technology and Development. vol. 2, 5360152, pp. 278-282, 2009 International Conference on Computer Technology and Development, ICCTD 2009, Kota Kinabalu, 13/11/09. https://doi.org/10.1109/ICCTD.2009.42
El-Shafie A, Hussain A, Eldin AEN. ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system. In ICCTD 2009 - 2009 International Conference on Computer Technology and Development. Vol. 2. 2009. p. 278-282. 5360152 https://doi.org/10.1109/ICCTD.2009.42
El-Shafie, Ahmed ; Hussain, Aini ; Eldin, Abo Elmagd Nour. / ANFIS-Based Model for Real-time INS/GPS Data fusion for vehicular navigation system. ICCTD 2009 - 2009 International Conference on Computer Technology and Development. Vol. 2 2009. pp. 278-282
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