Optimization Design of Data Fusion for GPS/DR Integrated Navigation System
Feng Zhang · Jisuanji gongcheng · 2012
In view that the GPS/DR integrated navigation system in a complex environment has problems such as lower positioning accuracy,error accumulation of the DR and so on,a data fusion algorithm which has better performance is presented.Considering the latest observations of the traditional Particle Filter(PF),the Gaussian Mixture(GM) model based the Square Root of Second-order Divided Difference(SRDD2) is introduced to produce proposal distribution.The importance sampling based on Monte Carlo and the evolution re-sampling are employed respectively that do not reduce sample degradation of the traditional PF but enhance the diversity of the samples.Experimental results show that this design has better comprehensive navigation and positioning performance for integrated navigation system than PF algorithm,GMPF algorithm.