【作者】 周翟和； 刘建业； 赖际舟； 熊剑；

【Author】 Zhou Zhai-he,Liu Jianye,Lai Ji-zhou,Xiong Jian (Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China)

【机构】 南京航空航天大学导航研究中心；

【摘要】 在SINS/GPS深组合导航系统的数据处理中,有时会出现线性和非线性的混合滤波模型。本文提出了一种改进的混合粒子滤波算法,该算法通过改进高斯粒子滤波(GPF)算法中的状态更新过程来提高滤波精度和有效减少滤波计算量。论文在SINS/GPS深组合滤波模型基础上,采用该改进算法解决组合导航非线性滤波问题,并进行了仿真验证。仿真结果表明,在相同条件下,改进后的算法滤波精度有了很大的提高,同时滤波计算时间也明显减少,能更好的满足组合导航系统性能要求。更多还原

【Abstract】 As for data fusion,there exists mixture linear and nonlinear model in the SINS/GPS integrated navigation system.In this paper,A new novel mixture particle filter is implemented in the mixture model.Compared with the traditional GPF,the stage of GPF state updating is improved and the novel algorithm can improve filtering precision and reduce filtering time.The improved algorithm is applied in the deep integrated navigation.With the same filtering conditions,the simulation demonstrates filtering time is reduced and filtering precision is improved which satisfied the conditions better in Integrated Navigation System.更多还原