卡尔曼/粒子滤波器在船用组合导航中的应用

Kalman/particle Filter Applied in Integrated Navigation

采用将全球定位系统GPS(Global Positioning System)与捷联惯性导航系统SINS(Strapdown Inertial Navigation System)进行组合导航的方式,组合后系统性能将优于GPS或SINS单独使用时的任一系统。介绍了基本粒子滤波器算法原理并对卡尔曼/粒子组合滤波器在船用GPS/SINS组合导航中的实现形式及算法特点进行了研究。仿真结果表明,对于船用SINS/GPS组合导航问题,卡尔曼/粒子组合滤波器能够获得较高的滤波精度,满足实际船用导航要求。

An integrated GPS （Global Positioning System）/SINS （Strapdown Inertial Navigation System） navigation system is presented in this paper. The integration of GPS and SINS, therefore, provides a navigation system that has superior performance in comparison with either a GPS or a SINS stand-alone system. The principle of Particle filter is proposed in this paper. A description of Kalman/particle combined filter algorithm applied in integrated navigation system for watercraft navigation is given, including its implementation and algorithm characters. The simulation has demonstrated that good results in SINS/GPS filtering accuracy could be obtained by applying Kalman/particle combined filter, which satisfying the practical demand for watercraft navigation.