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