| 新的非线性滤波算法在GPS/DR组合导航中的应用 |
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| 作者单位： | 哈尔滨工业大学空间控制与惯性技术研究中心 |
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| 摘 要： | 为解决传统粒子滤波算法中样本贫化的问题,提出一种新的粒子滤波算法.在重要性采样过程中,利用最新测量值,结合UKF滤波来产生粒子滤波中的建议分布;同时在再采样过程中,用高斯混合模型表示后验状态密度,引入最大期望(Expectation Maximization,EM)算法来获得该后验状态密度的参数,从新的参数分布中进行采样得到样本粒子,取代传统的再采样过程.把新算法应用到车辆组合导航系统中,仿真结果表明新算法的有效性.
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| 关 键 词： | 粒子滤波 最大期望算法 全球定位/航位推算 组合导航 |
A new nonlinear filter for GPS/DR integrated navigation system |
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| Xiang Li Liu Yu Su Baoku. A new nonlinear filter for GPS/DR integrated navigation system[J]. Journal of Southeast University(Natural Science Edition), 2008, 0(Z2) |
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| Authors: | Xiang Li Liu Yu Su Baoku |
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| Abstract: | In order to solve the "sample impoverishment" problem in traditional particle filter,a new method is proposed.An effective proposal distribution is obtained from unscented Kalman filter using the latest measurement;and a new resampling process is accomplished by sampling from a novel distribution based on Gaussian mixture model resulting from expectation-maximization(EM) algorithm.The effects caused by sample impoverishment are lessened.Test on the global position system/ dead reckoning(GPS/DR) integrated navigation system and simulation results demonstrate the effectiveness of this new method. |
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| Keywords: | particle filter expectation-maximization(EM) algorithm global position system/ dead reckoning(GPS/DR) integrated navigation |
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