| 改进的无迹粒子滤波在组合导航中的应用研究 |
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| 引用本文： | 张洋溢,王忠.改进的无迹粒子滤波在组合导航中的应用研究[J].武汉理工大学学报(交通科学与工程版),2012,36(2):415-418,422. |
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| 作者姓名： | 张洋溢 王忠 |
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| 作者单位： | 四川大学电气信息学院 成都610065 |
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| 摘 要： | 粒子滤波算法是一种适用于非线性非正态约束的统计滤波算法.针对粒子滤波存在退化现象,从围绕增加粒子的多样性和重要性分布函数的选择出发,提出了一种改进的无迹粒子滤波算法.该算法是利用无迹卡尔曼滤波产生的近似高斯分布作为重要性密度函数,在每次迭代中,结合马尔科夫链蒙特卡洛使粒子能够移动到不同地方,从而可以避免贫化现象.将这种算法应用到GPS/DR组合导航系统中,仿真结果证明了采用改进的无迹粒子滤波方法能达到很好的跟踪效果.
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| 关 键 词： | 粒子滤波 改进的UPF GPS/DR 信息融合 SIS |
Improved Unscented Particle Filtering for Integrated Navigation System |
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| Zhang Yangyi
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Wang Zhong.Improved Unscented Particle Filtering for Integrated Navigation System[J].journal of wuhan university of technology(transportation science&engineering),2012,36(2):415-418,422. |
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| Authors: | Zhang Yangyi Wang Zhong |
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| Institution: | Zhang Yangyi Wang Zhong (School of Electrical and Information Engineering,Sichuan University,Chengdu 610065,China) |
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| Abstract: | Particle filter is statistical filter arithmetic based on analog used in the non linearity and non normal restriction.There is the degenerate problem in particle filter.A improved particle filter method is given according to increasing particle diversity and choosing important distribution function.The approximate Gaussian distribution generated Unscented Kalman filter is used important distribution function in the method.The particle is moved different place using MCMC in each iteration to avoid degenerate problem.The method is used in GPS/DR integrated navigation system.The result of simulation has shown that the method have better tracking capability using improved UPF. |
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| Keywords: | particle filtering improved UPF GPS/DR information fusion SIS |
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