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| 基于结构分解的GPS/INS组合导航粒子滤波技术 | |
| 引用本文： | 熊 剑,刘建业,赖际舟,周翟和.基于结构分解的GPS/INS组合导航粒子滤波技术[J].控制与决策,2012,27(6):957-960. |
| 作者姓名： | 熊 剑 刘建业 赖际舟 周翟和 |
| 作者单位： | 南京航空航天大学导航研究中心,南京,210016 |
| 基金项目： | 国家自然科学基金项目，航空科学基金项目，博士学科点专项科研基金项目 |
| 摘 要： | 针对粒子滤波应用于GPS/INS组合导航系统时难以保证滤波实时性的问题,提出一种基于线性/非线性结构分解的改进粒子滤波算法.改进算法对状态方程进行线性/非线性结构分解,分别采用重点采样和线性卡尔曼方式进行一步预测递推,充分发挥粒子滤波和卡尔曼滤波的特点,有效降低了粒子滤波的计算量,在保证GPS/INS组合导航系统滤波精度的条件下提高了组合滤波的实时性. |
| 关 键 词： | 非线性滤波 粒子滤波 组合导航系统 惯性导航系统 |
| 收稿时间： | 2010/11/24 0:00:00 |
| 修稿时间： | 2011/1/25 0:00:00 |
GPS/INS integrated navigation particle filter based on structural decomposition |
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| XIONG Jian,LIU Jian-ye,LAI Ji-zhou,ZHOU Zhai-he.GPS/INS integrated navigation particle filter based on structural decomposition[J].Control and Decision,2012,27(6):957-960. |
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| Authors: | XIONG Jian LIU Jian-ye LAI Ji-zhou ZHOU Zhai-he |
| Affiliation: | (Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
| Abstract: | For the real time problem of particle filter in GPS/INS integrated navigation system,an improved particle filter algorithm based on linear & nonlinear structural decomposition is proposed.In the improved algorithm,state equation is decomposed into linear & nonlinear structures,individually predicted and educed by importance sampling and linear Kalman filter.By bringing the advantages of particle filter and Kalman filter into the prediction process,the computation workload of particle filter is reduced and the real time capability of integrated filtering is improved with the precision of GPS/INS integrated navigation guaranteed. |
| Keywords: | nonlinear filtering particle filter integrated navigation system inertial navigation system(INS) |
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