【摘要】 提出一种自适应迭代粒子滤波算法,利用自身迭代实时更新重要密度函数,快速将粒子推到高似然区,让粒子权重分散均匀,提高采样效率。运用模拟退火算法来解决粒子权重很小、不易归一化的问题,仿真结果可知,自适应迭代粒子滤波算法在SINS/GPS组合导航中有更好的实用性。更多还原

【Abstract】 An adaptive iterated particle filter(AIPF)is put forward,in which self-update is applied to update the importance density function in real time for pushing the particles to the high likelihood region quickly,so the particle weight can be evenly distributed to improve the sample efficiency.An annealing algorithm is used to solve the problem that the particle weight is too small to normalize.Simulation results demonstrate that the adaptive iterated particle filter is practical for SINS/GPS integrated navigation system.更多还原