A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System

被引：12

作者：

Jia, Ke ^{[1
]}

Pei, Yifei ^{[1
]}

Gao, Zhaohui ^{[1
]}

Zhong, Yongmin ^{[2
]}

Gao, Shesheng ^{[1
]}

Wei, Wenhui ^{[1
]}

Hu, Gaoge ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Automat, Xian 710129, Shaanxi, Peoples R China

[2] RMIT Univ, Sch Engn, Bundoora, Vic 3083, Australia

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2019年 / 2019卷

基金：

中国国家自然科学基金;

关键词：

AIDED INERTIAL NAVIGATION;

D O I：

10.1155/2019/8532601

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

An improved filtering algorithm-robust adaptive spherical simplex unscented particle filter (RASSUPF) is proposed to achieve high accuracy, induce the amount of computation, and resist the influence of abnormal interference for the MINS/VNS/GNS integrated navigation system. This algorithm adopts spherical simplex unscented transformation (SSUT) to approximate the probability distribution, employs the spherical simplex unscented Kalman filter (SSUKF) to generate the importance sampling density of particle filter, and applies robust and adaptive estimation to control the influence of the abnormal information on the state model and the observation model. Simulation results demonstrate the proposed algorithm can effectively reduce the navigation error, improve the navigation positioning precision, and decrease the computation cost.

引用

页数：13

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