RESUMEN
In order to reduce the position errors of the Global Positioning System/Strapdown Inertial Navigation System (GPS/SINS) integrated navigation system during GPS denial, this paper proposes a method based on the Particle Swarm Optimization-Back Propagation Neural Network (PSO-BPNN) to replace the GPS for positioning. The model relates the position information, velocity information, attitude information output by the SINS, and the navigation time to the position errors between the position information output by the SINS and the actual position information. The performance of the model is compared with the BPNN through an actual ship experiment. The results show that the PSO-BPNN can obviously reduce the position errors in the case of GPS signal denial.