English

应用科学学报

• 通信工程 • 上一篇    下一篇

组合导航直接滤波模型中的高斯粒子滤波

周翟和; 刘建业; 赖际舟   

  1. 南京航空航天大学 导航研究中心，南京210016
  • 收稿日期:2008-08-27 修回日期:2008-10-02 出版日期:2009-01-25 发布日期:2009-01-25
  • 通信作者: 周翟和

Gaussian Particle Filter in Integrated Navigation System with a Direct Filter Model


ZHOU Zhai-he, LIU Jian-ye, LAI Ji-zhou
  

  1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2008-08-27 Revised:2008-10-02 Online:2009-01-25 Published:2009-01-25
  • Contact: ZHOU Zhai-he

PDF

1778

被引次数

9

摘要： 利用高斯粒子滤波技术和直接滤波模型实现了SINS/GPS组合导航系统的数据融合. 首先对高斯粒子滤波进行改进，选取合适的重要性函数并简化滤波流程，然后直接采用惯导参数和GPS伪距等变量建立组合导航直接滤波非线性模型. 讨论了SINS/GPS 组合导航系统中的高斯粒子滤波的具体实现方法. 实验结果表明，该滤波方法能较好地满足组合导航的精度要求. 和其他滤波方法相比，高斯粒子滤波对系统和噪声模型要求比较宽松，因此在直接滤波中有一定的优势.

关键词: 高斯粒子滤波, 非线性滤波, 组合导航, SINS/GPS

Abstract: Data fusion of SINS/GPS integrated navigation system is realized using the Gaussian particle filter (GPF) and a direct filtering model. GPF is improved by selecting a suitable important function and a simple algorithmic framework. With parameters of the inertial navigation system (INS) and the GPS pseudo-range, an integrated navigation model is established based on a direct nonlinear filtering method. Implementation is described. Simulation shows that the filtering precision can meet the navigation system’s requirements. Due to the relaxed restriction of the system model and non-Gaussian noise, GPF has advantages in a direct filter system compared to other methods.

Key words: Gaussian particle filter, nonlinear filter, integrated navigation, SINS/GPS

中图分类号: