Gaussian Particle Filter in Integrated Navigation System with a Direct Filter Model
Jizhou Lai · 2009
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 inertial navigation system(INS) and the GPS pseudo-range,an integrated navigation model is 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 model and non-Gaussian noise,GPF has advantages in a direct filter system compared to other methods.