Marginal cubature particle filter and its application in gravity gradient aided navigation

被引：0

作者：

Wang, Zong-Yuan ^{[1
,2
]}

Sun, Feng ^{[2
]}

机构：

[1] College of Science, Harbin Engineering University, Harbin

[2] College of Automation, Harbin Engineering University, Harbin

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2014年 / 22卷 / 06期

关键词：

CEP; Cubature particle filter; Gradiometer aided inertial navigation system; Marginal filter; State decomposition;

D O I：

10.13695/j.cnki.12-1222/o3.2014.06.007

中图分类号：

学科分类号：

摘要：

INS has large accumulated errors after long journey owing to its inherent reason, which can be decreased by integrating INS with gravity gradient measurement. In this paper, the theory of gravity gradiometer aided INS is described, and its framework chart is presented. Then the gravity map and gradiometer is analyzed, and its measurement equation is set. Based on the feature of state-apace function, a marginal cubature particle filter is proposed to provide estimation in information fusion, and then its variance is proved to be reduced by statistical theory. In addition, the flowchart of algorithm is given, and the simulation is performed. Under the same condition, the position accuracy of the proposed algorithm is higher than that of the existing APO-PF algorithm based on the comparison of their attitude and longitude's RMSE results. The CEP is used for assessing navigation errors, and it is shown that the gradiometer's 4 h CEPs under 1E2 and 10E2 noises are 0.044 n mile and 0.072 n mile, respectively, in low-accuracy inertial navigation system. Finally, the state equation is simplified and used to qualitatively analyze the estimation effect of other state variables. ©, 2014, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

引用

页码：734 / 740

页数：6

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