改进粒子滤波算法在导航系统中的应用

Application of Improved Particle Filtering Algorithm to Navigation System

研究全方位导航,针对实时精确定位问题,为了提高全球定位系统(Global Positioning System,GPS)的定位精度和可靠性,提出了一种基于改进自举粒子滤波(Bootstrap Particle Filtering,BPF)的GPS定位系统算法。根据GPS输出的参数之间的相互联系建立了系统的状态方程,并应用改进BPF算法对GPS接收数据进行滤波处理。GPS导航系统中采用DSP对GPS接收机的输出信号进行译码和滤波仿真。结果表明GPS信号受到干扰时,改进BPF能很好的处理这种观测样本出现异常的情况,表明能减少运算量,并能很好的提高GPS定位精度,具有一定的鲁棒性。

In order to improve the positioning precision and reliability of GPS,a filtering algorithm of GPS positioning system based on improved bootstrap particle filtering is proposed.According to the mutual relation of parameters outputted by GPS,the system state equations are presented and the improved bootstrap particle filtering algorithm is applied to carry on the filtering of GPS receiver data.The DSP is used for decoding and filtering the outputting signals from the GPS receiver of GPS navigation system.The result shows that when GPS signal is disturbed,the improved BPF,which does well in dealing with the abnormality in observation samples and enhancing accuracy of GPS,is robust.