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Sep 24, 2007, 03:48 AM
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First neural network flight


Well, the first test flight with the neural network estimating velocity happened in no wind of any kind. Used a new offline trained network with 6 inputs & 2 outputs, reduced the number of integration steps when predicting velocity to 1, and that got it fast enough to run on the Gumstix.

The neural network offered very little improvement over GPS when predicting velocity based on its own tilt feedback. Nevertheless, the velocity oscillation seemed 2 B gone. Instead, very large drifts in position happened.

The neural network may have eliminated small scale oscillations but left behind large scale oscillations. It may have done nothing and what we saw was virtually no wind combined with precisely calibrated neutral tilt.

Secondly, the offline training for that test flight was based on another flight recording with significant oscillation. When the network was trained using its own flight recording, it gave slightly better results. The network probably needs online training.
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