混合联邦-粒子滤波在组合导航系统中的应用

摘要

为了解决非线性、非高斯复杂环境下的组合导航系统状态和参数估计问题,针对联邦滤波处理非高斯、非线性系统的不足,提出将粒子滤波引入联邦滤波结构中,形成新的混合联邦-粒子滤波方法.以惯性导航系统/北斗/罗兰C组合导航系统为对象,设计了混合联邦-粒子滤波器,并对所提滤波方法在惯性导航系统/北斗/罗兰C组合导航系统中的应用进行了仿真.仿真结果表明,改进方法能够有效提高系统精度,从而拓宽了联邦滤波的应用范围.%In order to solve the integrated navigation system's state and parameters estimation problem in the complex environment of non - linear, non - Gaussian, a new method combined the advantages of both federated and particle filter has been proposed in this paper to overcome the deficiency of federated filter in dealing with non - Gaussian and non - linear system. Taking the INS/BD/Loran - C Integrated Navigation System as a research subject, this paper designed a mixture federated - particle filter and researched the application of the proposed method in the INS/ BD/Loran - C integrated navigation system. The simulation results demonstrate the effectiveness of the proposed method, thus broadening the application range of federated filter.