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弹箭与制导学报 >

2014 , Vol. 34 >Issue 5: 77 - 81,122

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2014.05.020

导弹与制导技术

基于全局采样的RBUPF及其在组合导航中的应用

  • 朱立新 ,
  • 孟燕 ,
  • 马春来
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  • 1 电子工程学院电子制约技术安徽省重点实验室,合肥 230037
    2 72671部队,济南 250000

朱立新(1963-),女,安徽无为人,副教授,硕士,研究方向:信息处理、组合导航。

收稿日期: 2013-09-30

  网络出版日期: 2025-05-30

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Application of Improved Rao-Blackwellized Unscented Particle Filter Algorithm to Integrated Navigation

  • ZHU Lixin ,
  • MENG Yan ,
  • MA Chunlai
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  • 1 Key Laboratory of Electronic Restriction of Anhui Provine, Electronic Engineering Institute, Hefei 230037, China
    2 No. 72671 Unit, Jinan 250000, China

Received date: 2013-09-30

  Online published: 2025-05-30

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摘要

针对UPF(unscentedparticlefilter)在GPS/INS(globalpositioningsystem/inertialnavigationsystem)组合导航的应用中存在的计算量过大的问题,提出了一种基于全局采样的RBUPF(Rao-Blackwellizedunscentedparticlefilter)算法。该算法引入Rao-Blackwellized滤波思想,降低状态空间中非线性状态的维度;采用全局采样策略,对粒子集运用UKF(unscentedKalmanfilter)得到建议分布。仿真实验表明:这两方面的改进有效的降低了算法的计算量,且在保证较高估计精度的基础上,减小了粒子退化发生的可能性。

关键词： UPF; 全局采样; 混合模型; RBUPF; GPS/INS; 组合导航

本文引用格式

朱立新 , 孟燕 , 马春来 . 基于全局采样的RBUPF及其在组合导航中的应用[J]. 弹箭与制导学报, 2014 , 34(5) : 77 -81,122 . DOI: 10.15892/j.cnki.djzdxb.2014.05.020

Abstract

Since UPF carries out large amount of calculation in application of GPS/INS integrated navigation, an improved algorithm based on global sampling was presented Rao-Blackwellized unscented particle filter (RBUPF). The algorithm introduces the Rao-Blackwellized theorem, reduces dimension of nonlinear state in state space, uses global sampling strategy, applies UKF to particle set to get proposal distribution. The simulation shows these two improvements reduce calculation of the algorithm and ensure the estimation accuracy and reduce the possibility of particle degeneracy.

Key words： UPF; global sampling; hybrid model; RBUPF; GPS/INS; integrated navigation

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