The Application Reserch of Unscented Particle Filter Algorithm to GPS/DR

摘要

In this paper, a new particle filter algorithm--Unscented particle filter(UPF) is given based on the analysis of Extended Kalma Filter (EKF), General Particle Filter(PF) and Unscented Kalma Filter(UKF), and then it is applied to GPS/DR integrated navigation system. Finally, the feasibility and accuracy of UPF algorithm are proved, with a simulation and compare of UPF and PF in GPS/DR integrated navigation system.