遗传粒子滤波的GPS接收机自主完好性监测

GPS receiver autonomous integrity monitoring algorithm using the genetic particle filter

针对全球定位系统接收机观测噪声分布的特点和基本粒子滤波存在的粒子退化与采样枯竭问题,提出了一种基于遗传算法进行再采样粒子滤波与似然比方法有机结合的全球定位系统接收机自主完好性监测方法.建立了卫星故障检测的检验统计量,通过比较系统各状态累加对数似然比对卫星故障进行检测.将遗传算法中的选择、交叉和变异操作融入到粒子滤波中,提高了粒子滤波的精确性,在实数域内对粒子进行遗传操作,避免了遗传操作的编解码.实验表明,该算法在非高斯测量噪声下成功地检测并隔离故障卫星,提高了故障检测的性能,验证了该算法应用于全球定位系统接收机自主完好性监测的可行性和有效性.

According to the measurement noise feature of the GPS receiver and the degeneracy phenomenon and for alleviating the sample impoverishment problem in the particle filter （PF）, the GPS receiver autonomous integrity monitoring （RAIM） method based on an algorithm combining the genetic resampling particle filter with the likelihood ratio is presented. By setting up the test statistic of satellite fault detection, satellite fault detection is undertaken by checking the cumulative log-likelihood ratio （LLR） of system states. The selection, crossover and mutation of the genetic algorithm are melted into the particle filter, the accuracy of the particle filter is improved, and the genetic of particles is manipulated in the real domain. However, the coding of genetic manipulation is avoided. Simulation results demonstrate that the proposed algorithm can effectively detect and isolate fault satellite and improve the detection performance under conditions of non-Gaussian measurement noise. Therefore, the feasibility and validity of the proposed algorithm for RAIM are verified.