Terrain aided navigation using the RB-GSPF algorithm
Wang De-sheng · Journal of Tsinghua University(Science and Technology) · 2012
An RB-GSPF algorithm based on the Rao-Blackwell framework was used to solve the high dimensional,strongly nonlinear problem of terrain aided navigation.This algorithm extracts the linear Gaussian subsystem from the original system which is then solved by a Kalman filter.The other nonlinear part is handled by a Gaussian sum particle filter.This structure decomposition utilizes the optimality of the Kalman filter for a linear Gaussian system and the structural advantages of GSPF.Theoretical analyses and simulations show that the RB-GSPF algorithm has better accuracy and fewer particles than the particle filter and better parallelism and fewer computations than the RBPF algorithm.