中文摘要：

针对基于MEMS传感器组成的INS／GPS组合中GPS信号缺失的情况下，系统误差瞬时增大，滤波迅速退化无法继续工作的问题，本文提出利用神经网络辅助INS／GPS导航系统以解决这一问题的方法。该方法首先建立系统模型，用组合导航的输入作为网络模型的输入，通过网络训练得到输出需要参数，结合卡尔曼滤波用于组合导航以继续使导航系统工作，仿真结果表明该方法可行和有效性的。

英文摘要：

Performance improvement of integrated inertial navigation system utilizing Micro-Electro-Mechanical-System （MEMS） and GPS is described in this paper. Our method is based on using a Neural Network （NN） to intelligently aid the GPS/INS coupled navigation system in the outages of GPS signals. First the model is built,the input of Neural Network is the same as the input of inertial navigation, the needed parameters can be gotten through the network training and combination with the Kalman filter to aid the INS/GPS coupled with the navigation system. The test results indicate that the proposed methods can efficiently compensate for GPS updates during short outages. The simulation results show the effectiveness of the method.