A Novel Machine Learning-Based ANFIS Calibrated RISS/GNSS Integration for Improved Navigation in Urban Environments
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Bibliographic record
Abstract
Autonomous vehicles (AVs) require accurate navigation, but the reliability of Global Navigation Satellite Systems (GNSS) can be degraded by signal blockage and multipath interference in urban areas. Therefore, a navigation system that integrates a calibrated Reduced Inertial Sensors System (RISS) with GNSS is proposed. The system employs a machine-learning-based Adaptive Neuro-Fuzzy Inference System (ANFIS) as a novel calibration technique to improve the accuracy and reliability of the RISS. The ANFIS-based RISS/GNSS integration provides a more precise navigation solution in such environments. The effectiveness of the proposed integration scheme was validated by conducting tests using real road trajectory and simulated GNSS outages ranging from 50 to 150 s. The results demonstrate a significant improvement in 2D position Root Mean Square Error (RMSE) of 43.8% and 28% compared to the traditional RISS/GNSS and the frequency modulated continuous wave (FMCW) Radar (Rad)/RISS/GNSS integrated navigation systems, respectively. Moreover, an improvement of 47.5% and 23.4% in 2D position maximum errors is achieved compared to the RISS/GNSS and the Rad/RISS/GNSS integrated navigation systems, respectively. These results reveal significant improvements in positioning accuracy, which is essential for safe and efficient navigation. The long-term stability of the proposed system makes it suitable for various navigation applications, particularly those requiring continuous and precise positioning information. The ANFIS-based approach used in the proposed system is extendable to other low-end IMUs, making it an attractive option for a wide range of applications.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it