| 一种新的改进高斯粒子滤波算法及其在SINS/GPS 深组合导航系统中的应用 |
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| 引用本文： | 周翟和,刘建业,赖际舟,熊智. 一种新的改进高斯粒子滤波算法及其在SINS/GPS 深组合导航系统中的应用[J]. 控制与决策, 2011, 26(1): 85-88 |
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| 作者姓名： | 周翟和 刘建业 赖际舟 熊智 |
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| 作者单位： | 南京航空航天大学导航研究中心,南京,210016 |
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| 基金项目： | 国家自然科学基金项目，航窄科学基金项目 |
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| 摘 要： | 针对组合导航系统中出现的线性非线性混合滤波模型,提出一种新的混合高斯粒子滤波算法(MGPF).该滤波算法在状态更新过程中借鉴线性卡尔曼滤波思想直接更新状态量的高斯分布参数,而非逐个更新每个粒子,因此很人程度上减少了高斯粒子滤波算法(GPF)的计算量,同时滤波精度也有一定的提岛.建立了捷联惯性导航系统与全球卫星定位系统(...
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| 关 键 词： | 高斯粒子滤波 非线性滤波 组合导航 捷联/卫星 |
| 收稿时间： | 2009-10-27 |
| 修稿时间： | 2010-01-17 |
Novel Gaussian particle filter and it’s application in deeply integrated SINS/GPS navigation system |
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| ZHOU Zhai-he,LIU Jian-ye,LAI Ji-zhou,XIONG Zhi. Novel Gaussian particle filter and it’s application in deeply integrated SINS/GPS navigation system[J]. Control and Decision, 2011, 26(1): 85-88 |
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| Authors: | ZHOU Zhai-he LIU Jian-ye LAI Ji-zhou XIONG Zhi |
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| Affiliation: | (Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.) |
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| Abstract: | For mixture linear and nonlinear model in integrated navigation system, a new algorithm of mixture Gaussian
particle filtering(MGPF) is proposed. The stage of GPF state updating can be improved with the thought of Kalman filter
(KF). The updating stage is to update Gaussian distribution parameters of the particle rather than update all particles one by
one. Compared with the traditional GPF, the novel algorithm can improve filtering precision and reduce filtering time. The
MGPF algorithm is applied to SINS/GPS integrated navigation model. The simulation experiment on the established model
shows the effectiveness of the algorithm. |
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