BLENDS: Bayesian Learning-Enhanced Deep Smoothing for GNSS-Denied Environments
For autonomous systems relying on low-cost inertial sensors, BLENDS improves navigation accuracy during GNSS outages, enabling performance beyond conventional GNSS measurements.
BLENDS uses a transformer-based framework to augment Bayesian smoothing with learned covariance adaptation and state correction, achieving up to 25.6% improvement in position RMSE over model-based smoothers during GNSS outages on a quadrotor dataset.
Maintaining accurate navigation during GNSS outages remains a significant challenge for autonomous systems relying on low-cost inertial sensors. While classical smoothing methods, such as the two-filter smoother and Rauch-Tung-Striebel smoother, exploit measurements collected before and after an outage, their performance remains limited by the accuracy of conventional GNSS measurements. This paper presents Bayesian learning-enhanced navigation with deep smoothing (BLENDS), a transformer-based framework that augments Bayesian smoothing with learned covariance adaptation and state correction. The proposed method preserves the statistical foundations of Bayesian estimation while leveraging data-driven learning to improve navigation accuracy. Evaluations on the quadrotor dataset with GNSS outages demonstrate that BLENDS consistently outperforms both model-based smoothers, achieving up to 25.6% improvement in the position root mean square error while also reducing estimation uncertainty. Furthermore, BLENDS learns to compensate for the systematic bias between conventional GNSS positioning and RTK ground truth, enabling accuracy beyond that achievable with conventional GNSS measurements alone. The results demonstrate the potential of learning-enhanced Bayesian smoothing for resilient and high-accuracy navigation in GNSS-challenged environments.