基于IMMPF的组合导航算法研究

Research on Integrated Navigation Algorithm Based on IMMPF

为解决组合导航系统中存在的非线性、非高斯等问题,设计了一种多模型粒子滤波器,通过仿真实例验证了该算法不仅对基于伪距和伪距率的组合导航系统具有较高的滤波精度,当在导航系统上加入非高斯噪声之后依然能保持较好的收敛性,而且能在预先设定的模型集内根据模型概率正确匹配系统状态,对环境具有极强的自适应能力。

In order to deal with the of IMMPF is designed. In the simulation and pseudo-range rate integrated navigati the method can keep to the environment. it steady and match inear and non-Gaussian results demonstrate the problems in integrated navigation system, a filter efficiency of the filtering method for pseudo-range on system; also when non-Gaussian noise is added to the navigation system, the system model correctly in assumed sets of models. It is an adaptive filter