INS/GPS Integrated Navigation for Unmanned Ships Based on EEMD Noise Reduction and SSA-ELM

The primary problem faced by the integrated navigation system based on inertial (INS) and global positioning (GPS) is providing reliable solutions during GPS failure. Thus, this study proposes an innovative algorithm to address limitation of precise when fails. First, for noise interference in INS, reduction technology ensemble empirical mode decomposition (EEMD) proposed improve quality INS signal enhance effect. Second, INS/GPS framework sparrow search (SSA) extreme learning machine (ELM) proposed. During normal conditions, SSA-ELM used develop a high-precision prediction model estimate differences between GPS. When interrupted, difference predicted as measurement input corrected. To confirm effectiveness method, real ship experiment conducted with other commonly methods. experimental results demonstrate that method can accuracy reliability interrupted.