Closely-coupled SINS/GPS Integrated Navigation Technology Based on Gaussian Sum Particle Filter Fusion
Ying Liu · Journal of Projectiles.Rockets.Missiles and Guidance · 2012
To resolve nonlinear fusion problem in closely-coupled SINS/GPS integrated navigation system,a data fusion method based on Gaussian sum particle filter(GSPF) was presented.The approximation principle of GSPF algorithm was analyzed from the perspective of approximation Bayesian filter.Nonlinear state models and measurement models were derived.Dynamic simulation was carried out,and the simulation results show that the closely-coupled can still navigate when the number of satellite is less than four.The GSPF approach offers excellent estimation performances in closely-coupled system,by which better estimation accuracy can be obtained over normal particle filter(PF) when system attitude errors are large.