Application of Gaussian mixture particle filter in initial alignment for strapdown inertial navigation system on stationary base
SU Bao-ku · Journal of Dalian Maritime University · 2008
A Gaussian mixture particle filter(GMPF) algorithm was developed to solve sampling depletion problem in traditional particle filter algorithm using Sigma-point Kalman filter and particle filter.Traditional particle filter algorithm was replaced by weighted expectation-maximization(EM) algorithm in resampling process.The effects caused by sampling depletion were lessened,and estimation performance was improved.Test on initial alignment of large azimuth misalignment for strapdown inertial navigation system(SINS) on stationary base show that the estimation accuracy of the proposed one is superior to that of extended Kalman filter(EKF) algorithm.