TY - JOUR T1 - A novel approach for aiding unscented Kalman filter for bridging GNSS outages in integrated navigation systems JF - NAVIGATION: Journal of the Institute of Navigation JO - NAVIGATION SP - 521 LP - 539 DO - 10.1002/navi.435 VL - 68 IS - 3 AU - Nader Al Bitar AU - Alexander Gavrilov Y1 - 2021/09/21 UR - https://navi.ion.org/content/68/3/521.abstract N2 - Aiming to improve the position and velocity precision of the INS/GNSS system during GNSS outages, a novel system that combines unscented Kalman filter (UKF) and nonlinear autoregressive neural networks with external inputs (NARX) is proposed. The NARX-based module is utilized to predict the measurement updates of UKF during GNSS outages. A new offline approach for selecting the optimal inputs of NARX networks is suggested and tested. This approach is based on mutual information (MI) theory for identifying the inputs that influence each of the outputs (the measurement updates of UKF) and lag-space estimation (LSE) for investigating the dependency of these outputs on the past values of the inputs and the outputs. The performance of the proposed system is verified experimentally using a real dataset. The comparison results indicate that the NARX-aided UKF outperforms other methods that use different input configurations for neural networks. ER -