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September 16, 2025Measurement Science and Technology

A Hybrid GNSS/INS Integrated Navigation Method Combining GRU-SA and Covariance-Adaptive Factor Graph Optimization During GNSS Outages

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Authors

ZHZhen HuoLJLisheng JinXSXinyu Sun

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Overview

This method improves positioning accuracy in GNSS outages using a GRU-SA model and covariance-adaptive factor graph optimization.

Key Points

  • The proposed method enhances positioning accuracy during GNSS outages, significantly reducing errors.
  • In comparison experiments, the positioning RMSE improved by 70.40% and 49.69% during GNSS outages.
  • The hybrid approach integrates GNSS pseudo-measurements with GRU-SA to focus on critical features.
  • Covariance adjustments during optimization help mitigate measurement uncertainties in GNSS data.

Cite This Study

Huo et al. (2025) studied this question.

synapsesocial.com/papers/68d4539531b076d99fa5924fhttps://doi.org/10.1088/1361-6501/ae06c3
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