Federated Cubature Particle Filter and its Application in SINS/GPS/DR Integrated Navigation System
Zhenguo Yuan · 2019
A federated filter mixture of cubature particle filter and Kalman filter (FCPF) is proposed for integrated navigation system. In allusion to nonlinear sub-filtering model of navigation system based on multi-information sources, cubature particle filter (CPF) is blend into federal structure framework. Compared with EKF (Extended Kalman Filter), CPF can effectively avoid linearization error and obtain higher precision. Moreover, federal structure can improve the reliability of the navigation system. By taking land vehicle based upon SINS(Strap-down Inertial Navigation System), GPS(Global Positioning System) and DR(Dead Reckoning) as the research object, the application of FCPF could get better navigation results than FEKF.