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。
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.
出处
《应用科学学报》
CAS
CSCD
北大核心
2009年第1期97-101,共5页
Journal of Applied Sciences
基金
国防预研基金资助项目
