A Method to Prevent GPS / INS Integrated Navigation Filtering Divergence Based on SVM

A GPS / INS integrated navigation model is introduced in order to verify the naviga-tion ability in the condition of low GPS signal update frequency. The GPS signal break period were chosen 5s, 10sand 15sduring the vehicle motion, which has demonstrated that long signal interruption interval (above 10s) will lead to the Kalman filtering divergence after GPS signal reconstruction. Considering that the integrated navigation model has favorable effect in high GPS signal update frequency, a new method is proposed to prevent the filtering divergence. The approach adopted extensively is called support vector machine (S VM) inter-polating the GPS signal based on vehicle movement discipline. These findings of the research have led the author to the conclusion that SVM is able to increase the GPS signal update fre-quency to prevent the filtering divergence caused by long GPS signal interruption interval and strengthen the navigation accuracy.