IEEE - Aerospace and Electronic Systems - August 2023 - 20

An Integrated INS/GNSS System With an Attention-BasedDeepNetwork forDrones in GNSSDeniedEnvironments
Table 3.
Hyperparameters of Various Models on Local Datasets
Model
RNN
Layers
Single RNN cell
6 DoF
LSTM
CLSTM
200128 - 128180 - 60256 -256
Single LSTM cell
248240
ACLSTM 248240
Dropout
-
0.2
-
0.2
0.2
Activation function
tanh, sigmoid
tanh, sigmoid
Optimizer
Adam
tanh, sigmoid, ReLu Adam
Adam
tanh, sigmoid, ReLu Adam
tanh, sigmoid, ReLu Adam
All methods use mean square error (MSE)for costfunction and learning rate of5 104 with 500 epochs.
where hk shows the CLSTM output at the ith time step, ak
refers to the weight of the output at the ith time instance, t
shows the time series span, and Ot represents the weighted
total output of the CLSTM at each moment.
EXPERIMENTAL RESULTS
This section presents our experimental results on the
ACLSTM model's improvement on INS/GNSS integrated
navigation systems during an artificially induced
GNSS outage. As illustrated in Figure 6, the Skywalker
drone gathered the flight data. Figure 6 also shows the
data acquisition instruments containing a SPATIAL
INS as a high-performance integrated navigation system
utilizing the UBLOX M8 GNSS receiver [33].
The characteristics of INS and GNSS sensors are
given in Table 1, and the SPATIAL INS's capabilities and
accuracy are shown in Table 2.
DATA COLLECTION
Low maneuverability and slow-speed movements are
standard features of public datasets. To evaluate the
proposed model in more realistic conditions, we
Figure 9.
Position estimation (left) and their error with respect to the SPATIAL
INS (right) during the first GNSS outage. Results of
ACLSTM (blue), CLSTM (brown), LSTM (orange), SDOF (purple),
RNN (green), and EKF (pink) with respect to the SPATIAL
(red) during GNSS outage. ACLSTM performs more accurately
in the long-term north, east, and altitude estimation during the
first GNSS outage.
20
Figure 10.
Position estimation (left) and their Error with respect to the SPATIAL
INS (right) during the second GNSS outage. Results of
ACLSTM (blue), CLSTM (brown), LSTM (orange), SDOF (purple),
RNN (green), and EKF (pink) with respect to the SPATIAL
(red) during GNSS second outage.
IEEE A&E SYSTEMS MAGAZINE
AUGUST 2023

IEEE - Aerospace and Electronic Systems - August 2023

Table of Contents for the Digital Edition of IEEE - Aerospace and Electronic Systems - August 2023

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