Applied research of unscented particle filter algorithm for synthetic aperture sonar under integrated navigation
Yuan Bing-cheng · Journal of Naval University of Engineering · 2010
The motion compensation of synthetic aperture sonar is an important part in its signal processing.It needs the navigation data underwater.It is usually achieved by the integrated navigation with high precision.The navigation equipment of SAS consists of SINS and ADCP.The nonlinear error models of SINS/ ADCP based on quaternion error were presented.For the particle degeneration of the general particle filter,the unscented particle filter was applied to the SAS navigation model.The UKF allows the particle filter to incorporate the latest observations into a previous updating routine to generate good proposal distribution and thus improves the estimation of the state.The results indicate that UPF algorithm is better than the standard PF algorithm.