组合导航直接滤波模型中的高斯粒子滤波.pdfVIP

1 27 ò 1 1 Ï A ^ ‰ Æ Æ  Vol. 27 No. 1 2009c 1 JOURNAL OF APPLIED SCIENCES — Electronics and Information Engineering Jan. 2009 ©Ù? Ò : 0255-8297(2009)01-0097-05 |Ü Ê †È Å . ¥pdâ fÈ Å ± +Ú § 4ï ’§ 6 S° H®Ê ˜Ê U Œ Æ Êï Ä ¥%§H® 210016 ÁÁÁ ‡‡‡ : | ^ pd â fÈÅ E âÚ †  ÈÅ  . ¢y SINS/GPS|Ü Ê XÚ êâ KÜ . Ä ké pd â fÈÅ ? 1 U? §ÀÜ· ­‡5 ¼ê ¿{z ÈÅ 6§ §, †æ^. ëêÚ GPS–å C þïá |Ü ʆ ÈÅ š‚ 5 . . ? Ø SINS/GPS |Ü Ê XÚ ¥pdâ fÈÅ äN ¢y{ . ¢ (JL ²§TÈŐ{ UÐ/÷v |Ü Ê ° Ý ‡ ¦ . Ú Ù¦ ÈÅ  { ƒ §pd â fÈÅé XÚÚ D( .‡¦  °t §Ïd3†  ÈÅ ¥k ˜ ½ ` ³ . … c : pdâ fÈÅ ¶š‚5ÈÅ ¶|Ü Ê ¶SINS/GPS ¥ã© aÒ : TP14 ©zI “è : A Gaussian Particle Filter in Integrated Navigation System with a Direct Filter Model ZHOU Zhai-he, LIU Jian-ye, LAI Ji-zhou Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 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 inertia lnavigation system (INS) and the GPS pseudo-range, an integrated navigation mode lis 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 mode land non-Gaussian noi