RESUMO
Aiming at the problem of fast divergence of pure inertial navigation system without correction under the condition of GNSS restricted environment, this paper proposes a multi-mode navigation method with an intelligent virtual sensor based on long short-term memory (LSTM). The training mode, predicting mode, and validation mode for the intelligent virtual sensor are designed. The modes are switching flexibly according to GNSS rejecting situation and the status of the LSTM network of the intelligent virtual sensor. Then the inertial navigation system (INS) is corrected, and the availability of the LSTM network is also maintained. Meanwhile, the fireworks algorithm is adopted to optimize the learning rate and the number of hidden layers of LSTM hyperparameters to improve the estimation performance. The simulation results show that the proposed method can maintain the prediction accuracy of the intelligent virtual sensor online and shorten the training time according to the performance requirements adaptively. Under small sample conditions, the training efficiency and availability ratio of the proposed intelligent virtual sensor are improved significantly more than the neural network (BP) as well as the conventional LSTM network, improving the navigation performance in GNSS restricted environment effectively and efficiently.