组合导航直接滤波模型中的高斯粒子滤波

利用高斯粒子滤波技术和直接滤波模型实现了SINS/GPS组合导航系统的数据融合. 首先对高斯粒子滤波进行改进，选取合适的重要性函数并简化滤波流程，然后直接采用惯导参数和GPS伪距等变量建立组合导航直接滤波非线性模型. 讨论了SINS/GPS 组合导航系统中的高斯粒子滤波的具体实现方法. 实验结果表明，该滤波方法能较好地满足组合导航的精度要求. 和其他滤波方法相比，高斯粒子滤波对系统和噪声模型要求比较宽松，因此在直接滤波中有一定的优势.

Gaussian Particle Filter in Integrated Navigation System with a Direct Filter Model

Data fusion of SINS/GPS integrated navigation system is realized using the Gaussian particle filter (GPF) and a direct filtering model. GPF is improved by selecting a suitable important function and a simple algorithmic framework. With parameters of the inertial navigation system (INS) and the GPS pseudo-range, an integrated navigation model is established based on a direct nonlinear filtering method. Implementation is described. Simulation shows that the filtering precision can meet the navigation system’s requirements. Due to the relaxed restriction of the system model and non-Gaussian noise, GPF has advantages in a direct filter system compared to other methods.