A GPS/DR Integrated Navigation Algorithm Based on Particle Filter
Weifeng Tian · Jisuanji fangzhen · 2008
Most existing algorithms for vehicle GPS/DR(Global Positioning System/Dead reckoning) integrated navigation systems are based on Extended Kalman Filter.But a common problem among them is to necessarily linearize the intrinsic nonlinear system in the implementation of the Extended Kalman Filter,thus leading to great linearization errors.So particle filter is used in GPS/DR integrated navigation systems and the state equations and measurement equations of the system are built.In order to test the validity of the PF,the two methods are used to estimate the states of the vehicle integrated GPS/DR navigation systems.The experimental result shows that the particle filter outperforms the extended kalman filter in terms of accuracy.