[an error occurred while processing this directive] [an error occurred while processing this directive] [an error occurred while processing this directive]
[an error occurred while processing this directive]

Journal of Projectiles, Rockets, Missiles and Guidance >

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

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

MISSILES AND GUIDANCE TECHNOLOGY

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

  • ZHU Lixin ,
  • MENG Yan ,
  • MA Chunlai
Expand
  • 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

Fold

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

Cite this article

ZHU Lixin , MENG Yan , MA Chunlai . Application of Improved Rao-Blackwellized Unscented Particle Filter Algorithm to Integrated Navigation[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2014 , 34(5) : 77 -81,122 . DOI: 10.15892/j.cnki.djzdxb.2014.05.020

[an error occurred while processing this directive]

References

[1]
赵琳, 王小旭, 丁继成. 组合导航系统非线性滤波算法综述[J]. 中国惯性技术学报, 2009, 17(1): 46-54.
[2]
Yuan G, Zhang T. Unscented Kalman filtering for ultra-tightly coupled GPS/INS integration[C] // Proceedings of the IEEE International Conference on Mechatronics and Au-tomation, 2009: 4556-4560.
[3]
Xu Hui-juan, Wu Mei-ping, Luo Bing. Analysis of extend-ed and unscented kalman filtering for INS/GPS integration[J]. Aerospace Control, 2006, 24(6): 7-46.
[4]
程水英, 张剑云. 粒子滤波评述[J]. 宇航学报, 2008, 29(4): 1099-4112.
[5]
Georgy J, Noureldin A, Syed Z. Nonlinear filtering for tightly coupled RISS/GPS integration[C] // Position Loca-tion and Navigation Symposium, 2010: 1014-4021.
[6]
Giremus A, Doucet A, Calmettes V, et al. A Rao-Black-wellized particle filter for INS/GPS integration[C] // Pro-ceedings of IEEE International Conference on Acoustics, Speech, and Signal, 2004: 964-971.
[7]
Julier S J, Uhlmann JK. Unscented filtering and nonlinear estimation[J]. Proceedings of the IEEE, 2004, 92(3): 401-422.
[8]
Akca T, Demirekler M. An adaptive unscented kalman fil-ter for tightly coupled INS/GPS integration[C] // PositionLocation and Navigation Symposium, 2012: 389-395.
[9]
王恵南. GPS导航原理与应用[M]. 北京: 科学出版社, 2003.
[10]
Lu W, Hinamoto T. Optimal design of frequency response masking filters using semidefinite programming[J]. IEEE Trans on Circuits and Systems Fundamental Theory and Applications, 2003, 50(4): 557-568.
[11]
Rao CR, Blackwell H D. Rao-Blackwell theorem[J] Scholarpedia, 2008, 3(8): 7039.
[12]
Giremus A, Doucet A, Calmettes V, et al. A Rao-Black-wellized particle filter for INS/GPS integration[C] // Proceedings of IEEE on International Conference onAcous-tics, Speech, and Signal Processing, 2004, 3: 964-971.
[13]
Saha S, Gustafsson F. Particle filtering with dependent noise processes[J]. IEEE Transactions on Signal Pro-cessing, 2012, 60(9): 4497-4508.
Options
Outlines

/

〈 〉

[an error occurred while processing this directive]