Federated Particle Filter Technology Based on JIDS/SINS/GPS Integrated Navigation System

摘要

In multi-sensor integrated navigation systems, when sub-systems are non-linear and with Gaussian noise, the federated Kalman filter commonly used generates large error or even failure when estimating the global fusion state. This paper, taking JIDS/SINS/GPS integrated navigation system as example, proposes a federated particle filter technology to solve problems above. This technology, combining the particle filter with the federated Kalman filter, can be applied to non-linear non-Gaussian integrated system. It is proved effective in information fusion algorithm by simulated application, where the navigation information gets well fused.