Bayesian Learning-Enhanced Navigation with Deep Smoothing for Inertial-Aided Navigation
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| Format: | Preprint |
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2026
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| _version_ | 1866908915626672128 |
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| author | Cohen, Nadav Klein, Itzik |
| author_facet | Cohen, Nadav Klein, Itzik |
| contents | Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the theoretically optimal solution under Gaussian assumptions. However, loosely coupled INS/GNSS systems fundamentally inherit the systematic position bias of raw GNSS measurements, leaving a persistent accuracy gap that model-based smoothers cannot resolve. To address this limitation, we propose BLENDS, which integrates Bayesian learning with deep smoothing to enhance navigation performance. BLENDS is a a data-driven post-processing framework that augments the classical two-filter smoother with a transformer-based neural network. It learns to modify the filter covariance matrices and apply an additive correction to the smoothed error-state directly within the Bayesian framework. A novel Bayesian-consistent loss jointly supervises the smoothed mean and covariance, enforcing minimum-variance estimates while maintaining statistical consistency. BLENDS is evaluated on two real-world datasets spanning a mobile robot and a quadrotor. Across all unseen test trajectories, BLENDS achieves horizontal position improvements of up to 63% over the baseline forward EKF. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_25364 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Bayesian Learning-Enhanced Navigation with Deep Smoothing for Inertial-Aided Navigation Cohen, Nadav Klein, Itzik Robotics Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the theoretically optimal solution under Gaussian assumptions. However, loosely coupled INS/GNSS systems fundamentally inherit the systematic position bias of raw GNSS measurements, leaving a persistent accuracy gap that model-based smoothers cannot resolve. To address this limitation, we propose BLENDS, which integrates Bayesian learning with deep smoothing to enhance navigation performance. BLENDS is a a data-driven post-processing framework that augments the classical two-filter smoother with a transformer-based neural network. It learns to modify the filter covariance matrices and apply an additive correction to the smoothed error-state directly within the Bayesian framework. A novel Bayesian-consistent loss jointly supervises the smoothed mean and covariance, enforcing minimum-variance estimates while maintaining statistical consistency. BLENDS is evaluated on two real-world datasets spanning a mobile robot and a quadrotor. Across all unseen test trajectories, BLENDS achieves horizontal position improvements of up to 63% over the baseline forward EKF. |
| title | Bayesian Learning-Enhanced Navigation with Deep Smoothing for Inertial-Aided Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.25364 |