Nonlinear observer design for ships based on Gaussian particle filter
Xiaogong Lin, Lanrong Nie · 2016
Aiming at the problem of particle degen-erace in Standard Particle Filter (SPF), a ships nonlinear observer based on Gaussian Particle Filter (GPF) is proposed. Based on the theoretical framework of Sequential Important Sampling, the SPF and its improved algorithm GPF is introduced, and applied it to the state estimate of vessel in the dynamic positioning systems. The simulation results verify the effectiveness of avoiding particle degen-erace of GPF and robustness of the outliers from measuring sensors.