| 高斯混合粒子滤波器在静基座捷联惯导系统初始对准中的应用 |
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| 引用本文： | 向礼,柳明,苏宝库. 高斯混合粒子滤波器在静基座捷联惯导系统初始对准中的应用[J]. 大连海事大学学报(自然科学版), 2008, 34(2): 61-65 |
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| 作者姓名： | 向礼 柳明 苏宝库 |
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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 哈尔滨150001 |
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| 基金项目： | 国家重点基础研究发展计划(973计划) |
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| 摘 要： | 为解决传统粒子滤波算法中影响状态估计性能的采样枯竭问题,提出一种高斯混合粒子滤波(GMPF)算法,基于Sigma点卡尔曼滤波(SPKF)和粒子滤波的特点,采用加权EM算法取代传统粒子滤波的再采样过程,减弱了采样枯竭的影响,增强了算法的估计性能.对捷联惯导系统静基座大方位失准角初始对准的仿真结果表明,该算法的估计精度优于扩展卡尔曼滤波.
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| 关 键 词： | 捷联惯导系统 初始对准 大方位失准角 粒子滤波 EM算法 |
| 文章编号： | 1006-7736(2008)02-0061-04 |
| 修稿时间： | 2007-11-29 |
Application of Gaussian mixture particle filter in initial alignment for strapdown inertial navigation system on stationary base |
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| XIANG Li,LIU Ming,SU Bao-ku. Application of Gaussian mixture particle filter in initial alignment for strapdown inertial navigation system on stationary base[J]. Journal of Dalian Maritime University, 2008, 34(2): 61-65 |
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| Authors: | XIANG Li LIU Ming SU Bao-ku |
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| Abstract: | A Gaussian mixture particle filter(GMPF) algorithm was developed to solve sampling depletion problem in traditional particle filter algorithm using Sigma-point Kalman filter and particle filter.Traditional particle filter algorithm was replaced by weighted expectation-maximization(EM) algorithm in resampling process.The effects caused by sampling depletion were lessened,and estimation performance was improved.Test on initial alignment of large azimuth misalignment for strapdown inertial navigation system(SINS) on stationary base show that the estimation accuracy of the proposed one is superior to that of extended Kalman filter(EKF) algorithm. |
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| Keywords: | strapdown inertial navigation system(SINS) initial alignment lame azimuth angle particle filter expectation-maximization(EM) algorithm |
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