粒子滤波方法在GPS/DR组合导航系统中的应用

Particle Filtering Application in GPS/DR Integrated Navigation System

成功地将粒子滤波方法应用于GPS/DR组合导航系统中。如果GPS信号受到干扰或者车辆做大幅度机动时,卡尔曼滤波会有较大的误差。粒子滤波不仅考虑了客观样本信息,还考虑了主观因素,能很好地处理这种观测样本出现异常的情况,具有鲁棒性。实验证明,当GPS信号被遮挡时,粒子滤波优于卡尔曼滤波。

Particle Filtering is used in GPS/DR integrated navigation system. If GPS is disturbed or the vehicle moves quickly, the errors of KF (Kalman Filter) are quite big. Particle Filtering takes account of not only impersonal sample information but also subjective information. It deals well with the abnormity and is robust. The results show that PF is better than KF while the GPS is invalid.