SlideShare a Scribd company logo
Novel Terrain Integrated Navigation System using
Neural Network aided Kalman Filter
umair ali
Previous and this work
• SINS/DVL
• INS/GPS
• SINS/GPS/DVL
• SINS/TAN/DVL/MCP
implemented in this paper
Why NN with KF
• Kalman filter diverge from
estimate and can not deal
colured noise underwater
• Neural Network are good
with dealing non linearity
(main point is always inertial
measurement with external
global fixes)
Configuration of system
• SINS has no substansive
plateform so acceleration
and angular velocity are
there pose, position and
velocity are calculated at
100Hz
• Dvl provid velocity relative to
sea bottom
• heading is found by Dvl
• position fixes are by TAN
Filter equation - Mathematical model
• east-north-vertical coordinate
and state vector is
vilocity errors attitude
angle errors
lattitude
longtude and
high errors
accelerometer
biases
gyro drifts
real
postion
position
obtrained
from TAN
SINS
TAN
BP neural network (intro)
• Main functions are
adapation, generation and
powerful fault tolerance
• Neural network uses non-
linearity and differential
function to train weights.
BP NN algorithm
• input(x) and output(y) with
connection wij and wjk
• Training process:
w and b small random values,
determine actual output(for x, y),
lastly weights are adjusted to
minimize errors, gives us result
followed by gradient descent of
cost function
iterate until the cost function smaller
the e(set value)
USE OF BP NN in this paper
• Recall phase
correction by NN(sample with
enough percision) are added to
Kalman filter
input of NN is highly error
producing sensors
• Observation and prediction
vector as one input
300 samples to train network offline
Simulations
• Matlab 6.5 and VC++6.0
tool is used
• flat plane under certain
depth with some coditions
• linear velocity is 4kn,
heading 45, longitude and
latitude 165 and 32, drift
5/h and noise 10/h,
random constant bias
50ug and error 50ug, dvl
covariance error 0.5m/s,
compass 3 and TAN 50m
conclusion
• In this approach, the errors
in
• the classical federated
Kalman filter estimation
are corrected by
• the BP neural network
which is trained off line.
AUV position
• error is substantially
reduced and the precision
of the
• underwater navigation is
greatly improved.

More Related Content

What's hot

Kalman Filter Basic
Kalman Filter BasicKalman Filter Basic
Kalman Filter Basic
National Cheng Kung University
 
Kalman filter for Beginners
Kalman filter for BeginnersKalman filter for Beginners
Kalman filter for Beginners
winfred lu
 
Application of the Kalman Filter
Application of the Kalman FilterApplication of the Kalman Filter
Application of the Kalman Filter
Rohullah Latif
 
Seminar On Kalman Filter And Its Applications
Seminar On  Kalman  Filter And Its ApplicationsSeminar On  Kalman  Filter And Its Applications
Seminar On Kalman Filter And Its Applications
Barnali Dey
 
The extended kalman filter
The extended kalman filterThe extended kalman filter
The extended kalman filter
Mudit Parnami
 
Report kalman filtering
Report kalman filteringReport kalman filtering
Report kalman filtering
Irfan Anjum
 
Kalman Filter Based GPS Receiver
Kalman Filter Based GPS ReceiverKalman Filter Based GPS Receiver
Kalman Filter Based GPS Receiver
Falak Shah
 
PR-214: FlowNet: Learning Optical Flow with Convolutional Networks
PR-214: FlowNet: Learning Optical Flow with Convolutional NetworksPR-214: FlowNet: Learning Optical Flow with Convolutional Networks
PR-214: FlowNet: Learning Optical Flow with Convolutional Networks
Hyeongmin Lee
 
Guided Wave Propagation Simulation by ANSYS
Guided Wave Propagation Simulation by ANSYS Guided Wave Propagation Simulation by ANSYS
Guided Wave Propagation Simulation by ANSYS
Ping Hung Lee
 
Summer 2012 Project Report
Summer 2012 Project ReportSummer 2012 Project Report
Summer 2012 Project Report
Lalit Pradhan
 
[PR12] Making Convolutional Networks Shift-Invariant Again
[PR12] Making Convolutional Networks Shift-Invariant Again[PR12] Making Convolutional Networks Shift-Invariant Again
[PR12] Making Convolutional Networks Shift-Invariant Again
Hyeongmin Lee
 
IGARSS11-Zhang.ppt
IGARSS11-Zhang.pptIGARSS11-Zhang.ppt
IGARSS11-Zhang.ppt
grssieee
 
Thesis_powerpoint
Thesis_powerpointThesis_powerpoint
Thesis_powerpoint
Tim Costa
 
Boundary Conditions for Seismic Imaging: Computational and Geophysical Point...
Boundary Conditions for Seismic Imaging:  Computational and Geophysical Point...Boundary Conditions for Seismic Imaging:  Computational and Geophysical Point...
Boundary Conditions for Seismic Imaging: Computational and Geophysical Point...
EssamAlgizawy
 
Atmospheric Correction Algorithm_IGARSS.pptx
Atmospheric Correction Algorithm_IGARSS.pptxAtmospheric Correction Algorithm_IGARSS.pptx
Atmospheric Correction Algorithm_IGARSS.pptx
grssieee
 
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
Tatsuji Miyamoto
 
UPLINK, DOWNLINK AND OVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
UPLINK, DOWNLINK ANDOVERALL LINK PERFORMANCE INTER-SATELLITE LINKSUPLINK, DOWNLINK ANDOVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
UPLINK, DOWNLINK AND OVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
Ahmed Ayman
 
Temporal Superpixels Based on Proximity-Weighted Patch Matching
Temporal Superpixels Based on Proximity-Weighted Patch MatchingTemporal Superpixels Based on Proximity-Weighted Patch Matching
Temporal Superpixels Based on Proximity-Weighted Patch Matching
NAVER Engineering
 

What's hot (18)

Kalman Filter Basic
Kalman Filter BasicKalman Filter Basic
Kalman Filter Basic
 
Kalman filter for Beginners
Kalman filter for BeginnersKalman filter for Beginners
Kalman filter for Beginners
 
Application of the Kalman Filter
Application of the Kalman FilterApplication of the Kalman Filter
Application of the Kalman Filter
 
Seminar On Kalman Filter And Its Applications
Seminar On  Kalman  Filter And Its ApplicationsSeminar On  Kalman  Filter And Its Applications
Seminar On Kalman Filter And Its Applications
 
The extended kalman filter
The extended kalman filterThe extended kalman filter
The extended kalman filter
 
Report kalman filtering
Report kalman filteringReport kalman filtering
Report kalman filtering
 
Kalman Filter Based GPS Receiver
Kalman Filter Based GPS ReceiverKalman Filter Based GPS Receiver
Kalman Filter Based GPS Receiver
 
PR-214: FlowNet: Learning Optical Flow with Convolutional Networks
PR-214: FlowNet: Learning Optical Flow with Convolutional NetworksPR-214: FlowNet: Learning Optical Flow with Convolutional Networks
PR-214: FlowNet: Learning Optical Flow with Convolutional Networks
 
Guided Wave Propagation Simulation by ANSYS
Guided Wave Propagation Simulation by ANSYS Guided Wave Propagation Simulation by ANSYS
Guided Wave Propagation Simulation by ANSYS
 
Summer 2012 Project Report
Summer 2012 Project ReportSummer 2012 Project Report
Summer 2012 Project Report
 
[PR12] Making Convolutional Networks Shift-Invariant Again
[PR12] Making Convolutional Networks Shift-Invariant Again[PR12] Making Convolutional Networks Shift-Invariant Again
[PR12] Making Convolutional Networks Shift-Invariant Again
 
IGARSS11-Zhang.ppt
IGARSS11-Zhang.pptIGARSS11-Zhang.ppt
IGARSS11-Zhang.ppt
 
Thesis_powerpoint
Thesis_powerpointThesis_powerpoint
Thesis_powerpoint
 
Boundary Conditions for Seismic Imaging: Computational and Geophysical Point...
Boundary Conditions for Seismic Imaging:  Computational and Geophysical Point...Boundary Conditions for Seismic Imaging:  Computational and Geophysical Point...
Boundary Conditions for Seismic Imaging: Computational and Geophysical Point...
 
Atmospheric Correction Algorithm_IGARSS.pptx
Atmospheric Correction Algorithm_IGARSS.pptxAtmospheric Correction Algorithm_IGARSS.pptx
Atmospheric Correction Algorithm_IGARSS.pptx
 
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
Doppler Estimation Method of Using Frequency Channel Response for OFDM System...
 
UPLINK, DOWNLINK AND OVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
UPLINK, DOWNLINK ANDOVERALL LINK PERFORMANCE INTER-SATELLITE LINKSUPLINK, DOWNLINK ANDOVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
UPLINK, DOWNLINK AND OVERALL LINK PERFORMANCE INTER-SATELLITE LINKS
 
Temporal Superpixels Based on Proximity-Weighted Patch Matching
Temporal Superpixels Based on Proximity-Weighted Patch MatchingTemporal Superpixels Based on Proximity-Weighted Patch Matching
Temporal Superpixels Based on Proximity-Weighted Patch Matching
 

Similar to Novel Terrain Integrated Navigation System using Neural Network aided Kalman Filter

Quantum Machine Learning for IBM AI
Quantum Machine Learning for IBM AIQuantum Machine Learning for IBM AI
Quantum Machine Learning for IBM AI
Sasha Lazarevic
 
Morocco2022_LocationProblem_Bondar.pptx
Morocco2022_LocationProblem_Bondar.pptxMorocco2022_LocationProblem_Bondar.pptx
Morocco2022_LocationProblem_Bondar.pptx
ouchenibrahim1
 
Hands on machine learning with scikit-learn and tensor flow by ahmed yousry
Hands on machine learning with scikit-learn and tensor flow by ahmed yousryHands on machine learning with scikit-learn and tensor flow by ahmed yousry
Hands on machine learning with scikit-learn and tensor flow by ahmed yousry
Ahmed Yousry
 
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptxEfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
ssuser2624f71
 
Fractal Antenna
Fractal AntennaFractal Antenna
Fractal Antenna
Jay Patel
 
Review (1)
Review (1)Review (1)
HiPEAC 2019 Workshop - Use Cases
HiPEAC 2019 Workshop - Use CasesHiPEAC 2019 Workshop - Use Cases
HiPEAC 2019 Workshop - Use Cases
Tulipp. Eu
 
MAVMeetup - All About GPS
MAVMeetup - All About GPSMAVMeetup - All About GPS
MAVMeetup - All About GPS
🙋‍♂️ Andrew Aarestad
 
Neural network for black-box fusion of underwater robot localization under un...
Neural network for black-box fusion of underwaterrobot localization under un...Neural network for black-box fusion of underwaterrobot localization under un...
Neural network for black-box fusion of underwater robot localization under un...
umairali255
 
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
DataScienceConferenc1
 
EC6602 - AWP UNI-4
EC6602 - AWP UNI-4EC6602 - AWP UNI-4
EC6602 - AWP UNI-4
krishnamrm
 
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptxSPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
ssuser2624f71
 
SPICE-MATEX @ DAC15
SPICE-MATEX @ DAC15SPICE-MATEX @ DAC15
SPICE-MATEX @ DAC15
Hao Zhuang
 
Exploring Simple Siamese Representation Learning
Exploring Simple Siamese Representation LearningExploring Simple Siamese Representation Learning
Exploring Simple Siamese Representation Learning
Sungchul Kim
 
nural network ER. Abhishek k. upadhyay
nural network ER. Abhishek  k. upadhyaynural network ER. Abhishek  k. upadhyay
nural network ER. Abhishek k. upadhyay
abhishek upadhyay
 
Digial instrumentation fnal
Digial instrumentation fnalDigial instrumentation fnal
Digial instrumentation fnal
Bishal Rimal
 
unit_5 ppt DIRECT BROADCAST SATELLITE.pptx
unit_5 ppt DIRECT BROADCAST SATELLITE.pptxunit_5 ppt DIRECT BROADCAST SATELLITE.pptx
unit_5 ppt DIRECT BROADCAST SATELLITE.pptx
rubini Rubini
 
Traversing Notes |surveying II | Sudip khadka
Traversing Notes |surveying II | Sudip khadka Traversing Notes |surveying II | Sudip khadka
Traversing Notes |surveying II | Sudip khadka
Sudip khadka
 
ct image quality
ct image qualityct image quality
ct image quality
dypradio
 
Statistical learning approach for estimating water quality parameters
Statistical learning approach for estimating water quality parametersStatistical learning approach for estimating water quality parameters
Statistical learning approach for estimating water quality parameters
Dinesh Neupane
 

Similar to Novel Terrain Integrated Navigation System using Neural Network aided Kalman Filter (20)

Quantum Machine Learning for IBM AI
Quantum Machine Learning for IBM AIQuantum Machine Learning for IBM AI
Quantum Machine Learning for IBM AI
 
Morocco2022_LocationProblem_Bondar.pptx
Morocco2022_LocationProblem_Bondar.pptxMorocco2022_LocationProblem_Bondar.pptx
Morocco2022_LocationProblem_Bondar.pptx
 
Hands on machine learning with scikit-learn and tensor flow by ahmed yousry
Hands on machine learning with scikit-learn and tensor flow by ahmed yousryHands on machine learning with scikit-learn and tensor flow by ahmed yousry
Hands on machine learning with scikit-learn and tensor flow by ahmed yousry
 
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptxEfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.pptx
 
Fractal Antenna
Fractal AntennaFractal Antenna
Fractal Antenna
 
Review (1)
Review (1)Review (1)
Review (1)
 
HiPEAC 2019 Workshop - Use Cases
HiPEAC 2019 Workshop - Use CasesHiPEAC 2019 Workshop - Use Cases
HiPEAC 2019 Workshop - Use Cases
 
MAVMeetup - All About GPS
MAVMeetup - All About GPSMAVMeetup - All About GPS
MAVMeetup - All About GPS
 
Neural network for black-box fusion of underwater robot localization under un...
Neural network for black-box fusion of underwaterrobot localization under un...Neural network for black-box fusion of underwaterrobot localization under un...
Neural network for black-box fusion of underwater robot localization under un...
 
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
[Q-tangled 22] Deconstructing Quantum Machine Learning Algorithms - Sasha Laz...
 
EC6602 - AWP UNI-4
EC6602 - AWP UNI-4EC6602 - AWP UNI-4
EC6602 - AWP UNI-4
 
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptxSPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
SPECFORMER: SPECTRAL GRAPH NEURAL NETWORKS MEET TRANSFORMERS.pptx
 
SPICE-MATEX @ DAC15
SPICE-MATEX @ DAC15SPICE-MATEX @ DAC15
SPICE-MATEX @ DAC15
 
Exploring Simple Siamese Representation Learning
Exploring Simple Siamese Representation LearningExploring Simple Siamese Representation Learning
Exploring Simple Siamese Representation Learning
 
nural network ER. Abhishek k. upadhyay
nural network ER. Abhishek  k. upadhyaynural network ER. Abhishek  k. upadhyay
nural network ER. Abhishek k. upadhyay
 
Digial instrumentation fnal
Digial instrumentation fnalDigial instrumentation fnal
Digial instrumentation fnal
 
unit_5 ppt DIRECT BROADCAST SATELLITE.pptx
unit_5 ppt DIRECT BROADCAST SATELLITE.pptxunit_5 ppt DIRECT BROADCAST SATELLITE.pptx
unit_5 ppt DIRECT BROADCAST SATELLITE.pptx
 
Traversing Notes |surveying II | Sudip khadka
Traversing Notes |surveying II | Sudip khadka Traversing Notes |surveying II | Sudip khadka
Traversing Notes |surveying II | Sudip khadka
 
ct image quality
ct image qualityct image quality
ct image quality
 
Statistical learning approach for estimating water quality parameters
Statistical learning approach for estimating water quality parametersStatistical learning approach for estimating water quality parameters
Statistical learning approach for estimating water quality parameters
 

More from umairali255

8x3x8 Multi layer perceptron training using Python Code
8x3x8 Multi layer perceptron training using Python Code8x3x8 Multi layer perceptron training using Python Code
8x3x8 Multi layer perceptron training using Python Code
umairali255
 
Perceptrons
PerceptronsPerceptrons
Perceptrons
umairali255
 
weights training of perceptron (using 3 training rules)
weights training of perceptron (using 3 training rules)weights training of perceptron (using 3 training rules)
weights training of perceptron (using 3 training rules)
umairali255
 
Diode thyristor transistor
Diode thyristor transistorDiode thyristor transistor
Diode thyristor transistor
umairali255
 
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
umairali255
 
novel approach for charger of electrical vehicle
novel approach for charger of electrical vehiclenovel approach for charger of electrical vehicle
novel approach for charger of electrical vehicle
umairali255
 
IMU and LiDar vision system using Neural network
IMU and LiDar vision system using Neural networkIMU and LiDar vision system using Neural network
IMU and LiDar vision system using Neural network
umairali255
 
why and where use Advance power electronics design
why and where use Advance power electronics design why and where use Advance power electronics design
why and where use Advance power electronics design
umairali255
 

More from umairali255 (8)

8x3x8 Multi layer perceptron training using Python Code
8x3x8 Multi layer perceptron training using Python Code8x3x8 Multi layer perceptron training using Python Code
8x3x8 Multi layer perceptron training using Python Code
 
Perceptrons
PerceptronsPerceptrons
Perceptrons
 
weights training of perceptron (using 3 training rules)
weights training of perceptron (using 3 training rules)weights training of perceptron (using 3 training rules)
weights training of perceptron (using 3 training rules)
 
Diode thyristor transistor
Diode thyristor transistorDiode thyristor transistor
Diode thyristor transistor
 
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
Novel Terrain Integrated Navigation System using Neural Network aided Kalman ...
 
novel approach for charger of electrical vehicle
novel approach for charger of electrical vehiclenovel approach for charger of electrical vehicle
novel approach for charger of electrical vehicle
 
IMU and LiDar vision system using Neural network
IMU and LiDar vision system using Neural networkIMU and LiDar vision system using Neural network
IMU and LiDar vision system using Neural network
 
why and where use Advance power electronics design
why and where use Advance power electronics design why and where use Advance power electronics design
why and where use Advance power electronics design
 

Recently uploaded

一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
sydezfe
 
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
MadhavJungKarki
 
P5 Working Drawings.pdf floor plan, civil
P5 Working Drawings.pdf floor plan, civilP5 Working Drawings.pdf floor plan, civil
P5 Working Drawings.pdf floor plan, civil
AnasAhmadNoor
 
Null Bangalore | Pentesters Approach to AWS IAM
Null Bangalore | Pentesters Approach to AWS IAMNull Bangalore | Pentesters Approach to AWS IAM
Null Bangalore | Pentesters Approach to AWS IAM
Divyanshu
 
Applications of artificial Intelligence in Mechanical Engineering.pdf
Applications of artificial Intelligence in Mechanical Engineering.pdfApplications of artificial Intelligence in Mechanical Engineering.pdf
Applications of artificial Intelligence in Mechanical Engineering.pdf
Atif Razi
 
Accident detection system project report.pdf
Accident detection system project report.pdfAccident detection system project report.pdf
Accident detection system project report.pdf
Kamal Acharya
 
Mechanical Engineering on AAI Summer Training Report-003.pdf
Mechanical Engineering on AAI Summer Training Report-003.pdfMechanical Engineering on AAI Summer Training Report-003.pdf
Mechanical Engineering on AAI Summer Training Report-003.pdf
21UME003TUSHARDEB
 
Blood finder application project report (1).pdf
Blood finder application project report (1).pdfBlood finder application project report (1).pdf
Blood finder application project report (1).pdf
Kamal Acharya
 
一比一原版(USF毕业证)旧金山大学毕业证如何办理
一比一原版(USF毕业证)旧金山大学毕业证如何办理一比一原版(USF毕业证)旧金山大学毕业证如何办理
一比一原版(USF毕业证)旧金山大学毕业证如何办理
uqyfuc
 
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
PriyankaKilaniya
 
Ericsson LTE Throughput Troubleshooting Techniques.ppt
Ericsson LTE Throughput Troubleshooting Techniques.pptEricsson LTE Throughput Troubleshooting Techniques.ppt
Ericsson LTE Throughput Troubleshooting Techniques.ppt
wafawafa52
 
Call For Paper -3rd International Conference on Artificial Intelligence Advan...
Call For Paper -3rd International Conference on Artificial Intelligence Advan...Call For Paper -3rd International Conference on Artificial Intelligence Advan...
Call For Paper -3rd International Conference on Artificial Intelligence Advan...
ijseajournal
 
Unit -II Spectroscopy - EC I B.Tech.pdf
Unit -II Spectroscopy - EC  I B.Tech.pdfUnit -II Spectroscopy - EC  I B.Tech.pdf
Unit -II Spectroscopy - EC I B.Tech.pdf
TeluguBadi
 
Assistant Engineer (Chemical) Interview Questions.pdf
Assistant Engineer (Chemical) Interview Questions.pdfAssistant Engineer (Chemical) Interview Questions.pdf
Assistant Engineer (Chemical) Interview Questions.pdf
Seetal Daas
 
Bituminous road construction project based learning report
Bituminous road construction project based learning reportBituminous road construction project based learning report
Bituminous road construction project based learning report
CE19KaushlendraKumar
 
This study Examines the Effectiveness of Talent Procurement through the Imple...
This study Examines the Effectiveness of Talent Procurement through the Imple...This study Examines the Effectiveness of Talent Procurement through the Imple...
This study Examines the Effectiveness of Talent Procurement through the Imple...
DharmaBanothu
 
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
ecqow
 
openshift technical overview - Flow of openshift containerisatoin
openshift technical overview - Flow of openshift containerisatoinopenshift technical overview - Flow of openshift containerisatoin
openshift technical overview - Flow of openshift containerisatoin
snaprevwdev
 
5G Radio Network Througput Problem Analysis HCIA.pdf
5G Radio Network Througput Problem Analysis HCIA.pdf5G Radio Network Througput Problem Analysis HCIA.pdf
5G Radio Network Througput Problem Analysis HCIA.pdf
AlvianRamadhani5
 
An Introduction to the Compiler Designss
An Introduction to the Compiler DesignssAn Introduction to the Compiler Designss
An Introduction to the Compiler Designss
ElakkiaU
 

Recently uploaded (20)

一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
一比一原版(uoft毕业证书)加拿大多伦多大学毕业证如何办理
 
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
1FIDIC-CONSTRUCTION-CONTRACT-2ND-ED-2017-RED-BOOK.pdf
 
P5 Working Drawings.pdf floor plan, civil
P5 Working Drawings.pdf floor plan, civilP5 Working Drawings.pdf floor plan, civil
P5 Working Drawings.pdf floor plan, civil
 
Null Bangalore | Pentesters Approach to AWS IAM
Null Bangalore | Pentesters Approach to AWS IAMNull Bangalore | Pentesters Approach to AWS IAM
Null Bangalore | Pentesters Approach to AWS IAM
 
Applications of artificial Intelligence in Mechanical Engineering.pdf
Applications of artificial Intelligence in Mechanical Engineering.pdfApplications of artificial Intelligence in Mechanical Engineering.pdf
Applications of artificial Intelligence in Mechanical Engineering.pdf
 
Accident detection system project report.pdf
Accident detection system project report.pdfAccident detection system project report.pdf
Accident detection system project report.pdf
 
Mechanical Engineering on AAI Summer Training Report-003.pdf
Mechanical Engineering on AAI Summer Training Report-003.pdfMechanical Engineering on AAI Summer Training Report-003.pdf
Mechanical Engineering on AAI Summer Training Report-003.pdf
 
Blood finder application project report (1).pdf
Blood finder application project report (1).pdfBlood finder application project report (1).pdf
Blood finder application project report (1).pdf
 
一比一原版(USF毕业证)旧金山大学毕业证如何办理
一比一原版(USF毕业证)旧金山大学毕业证如何办理一比一原版(USF毕业证)旧金山大学毕业证如何办理
一比一原版(USF毕业证)旧金山大学毕业证如何办理
 
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...
 
Ericsson LTE Throughput Troubleshooting Techniques.ppt
Ericsson LTE Throughput Troubleshooting Techniques.pptEricsson LTE Throughput Troubleshooting Techniques.ppt
Ericsson LTE Throughput Troubleshooting Techniques.ppt
 
Call For Paper -3rd International Conference on Artificial Intelligence Advan...
Call For Paper -3rd International Conference on Artificial Intelligence Advan...Call For Paper -3rd International Conference on Artificial Intelligence Advan...
Call For Paper -3rd International Conference on Artificial Intelligence Advan...
 
Unit -II Spectroscopy - EC I B.Tech.pdf
Unit -II Spectroscopy - EC  I B.Tech.pdfUnit -II Spectroscopy - EC  I B.Tech.pdf
Unit -II Spectroscopy - EC I B.Tech.pdf
 
Assistant Engineer (Chemical) Interview Questions.pdf
Assistant Engineer (Chemical) Interview Questions.pdfAssistant Engineer (Chemical) Interview Questions.pdf
Assistant Engineer (Chemical) Interview Questions.pdf
 
Bituminous road construction project based learning report
Bituminous road construction project based learning reportBituminous road construction project based learning report
Bituminous road construction project based learning report
 
This study Examines the Effectiveness of Talent Procurement through the Imple...
This study Examines the Effectiveness of Talent Procurement through the Imple...This study Examines the Effectiveness of Talent Procurement through the Imple...
This study Examines the Effectiveness of Talent Procurement through the Imple...
 
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
一比一原版(CalArts毕业证)加利福尼亚艺术学院毕业证如何办理
 
openshift technical overview - Flow of openshift containerisatoin
openshift technical overview - Flow of openshift containerisatoinopenshift technical overview - Flow of openshift containerisatoin
openshift technical overview - Flow of openshift containerisatoin
 
5G Radio Network Througput Problem Analysis HCIA.pdf
5G Radio Network Througput Problem Analysis HCIA.pdf5G Radio Network Througput Problem Analysis HCIA.pdf
5G Radio Network Througput Problem Analysis HCIA.pdf
 
An Introduction to the Compiler Designss
An Introduction to the Compiler DesignssAn Introduction to the Compiler Designss
An Introduction to the Compiler Designss
 

Novel Terrain Integrated Navigation System using Neural Network aided Kalman Filter

  • 1. Novel Terrain Integrated Navigation System using Neural Network aided Kalman Filter umair ali
  • 2. Previous and this work • SINS/DVL • INS/GPS • SINS/GPS/DVL • SINS/TAN/DVL/MCP implemented in this paper
  • 3. Why NN with KF • Kalman filter diverge from estimate and can not deal colured noise underwater • Neural Network are good with dealing non linearity (main point is always inertial measurement with external global fixes)
  • 4. Configuration of system • SINS has no substansive plateform so acceleration and angular velocity are there pose, position and velocity are calculated at 100Hz • Dvl provid velocity relative to sea bottom • heading is found by Dvl • position fixes are by TAN
  • 5. Filter equation - Mathematical model • east-north-vertical coordinate and state vector is vilocity errors attitude angle errors lattitude longtude and high errors accelerometer biases gyro drifts real postion position obtrained from TAN SINS TAN
  • 6. BP neural network (intro) • Main functions are adapation, generation and powerful fault tolerance • Neural network uses non- linearity and differential function to train weights.
  • 7. BP NN algorithm • input(x) and output(y) with connection wij and wjk • Training process: w and b small random values, determine actual output(for x, y), lastly weights are adjusted to minimize errors, gives us result followed by gradient descent of cost function iterate until the cost function smaller the e(set value)
  • 8. USE OF BP NN in this paper • Recall phase correction by NN(sample with enough percision) are added to Kalman filter input of NN is highly error producing sensors • Observation and prediction vector as one input 300 samples to train network offline
  • 9. Simulations • Matlab 6.5 and VC++6.0 tool is used • flat plane under certain depth with some coditions • linear velocity is 4kn, heading 45, longitude and latitude 165 and 32, drift 5/h and noise 10/h, random constant bias 50ug and error 50ug, dvl covariance error 0.5m/s, compass 3 and TAN 50m
  • 10. conclusion • In this approach, the errors in • the classical federated Kalman filter estimation are corrected by • the BP neural network which is trained off line. AUV position • error is substantially reduced and the precision of the • underwater navigation is greatly improved.