A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System

摘要

An improved filtering algorithm-robust adaptive spherical simplex unscented particle filter (RASSUPF) is proposed to achieve high accuracy, induce the amount of computation, and resist the influence of abnormal interference for the MINS/VNS/GNS integrated navigation system. This algorithm adopts spherical simplex unscented transformation (SSUT) to approximate the probability distribution, employs the spherical simplex unscented Kalman filter (SSUKF) to generate the importance sampling density of particle filter, and applies robust and adaptive estimation to control the influence of the abnormal information on the state model and the observation model. Simulation results demonstrate the proposed algorithm can effectively reduce the navigation error, improve the navigation positioning precision, and decrease the computation cost.