| 混合粒子联邦滤波在多信息组合导航系统中的应用 |
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| 引用本文： | 赖际舟,周翟和,刘建业,熊剑. 混合粒子联邦滤波在多信息组合导航系统中的应用[J]. 中国惯性技术学报, 2011, 19(1) |
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| 作者姓名： | 赖际舟 周翟和 刘建业 熊剑 |
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| 作者单位： | 南京航空航天大学,导航研究中心,南京,210016 |
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| 基金项目： | 自然科学基金资助项目(60702003); 航空科学基金资助项目(20080852011); 博士点基金资助项目(20070287045) |
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| 摘 要： | 在组合导航多信息滤波系统的应用中,会遇到部分子滤波器为非线性系统的情况。提出了一种混合粒子联邦滤波方法,把高斯粒子滤波获取多维高斯分布的计算过程融入到联邦卡尔曼滤波结构框架中,并采用该滤波框架解决混合系统的多信息融合问题,该算法在滤波模型的适应性方面要优于传统的联邦滤波。以组合导航多信息融合问题为例,建立了混合粒子联邦滤波模型,对该算法进行了仿真,仿真结果验证了混合粒子联邦滤波的有效性。
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| 关 键 词： | 粒子滤波 混合系统 组合导航 联邦滤波 |
Mixture particle federated filter and its application in multi-sensor integrated navigation system |
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| LAI Ji-zhou,ZHOU Zhai-he,LIU Jian-ye,XIONG Jian. Mixture particle federated filter and its application in multi-sensor integrated navigation system[J]. Journal of Chinese Inertial Technology, 2011, 19(1) |
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| Authors: | LAI Ji-zhou ZHOU Zhai-he LIU Jian-ye XIONG Jian |
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| Affiliation: | LAI Ji-zhou,ZHOU Zhai-he,LIU Jian-ye,XIONG Jian(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | A new mixture particle federated filtering(MPFF) algorithm is implemented for mixture linear and nonlinear sub-filtering models in multi-sensor integrated navigation system.The method and result of Gaussian particle filtering(GPF) can be effectively applied in nonlinear sub-filter.GPF sub-filter can be melted into federated filtering frame which is adaptive for multi-sensor system.The algorithm can provide favorable adaptability for the filtering model.MPFF is applied in the multi-sensor integrated navigati... |
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| Keywords: | particle filter mixture system integrated navigation federated filter |
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