| EPF算法在惯导非线性初始对准中的应用 |
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| 引用本文： | 王志刚,陈良友,边少锋.EPF算法在惯导非线性初始对准中的应用[J].中国惯性技术学报,2007,15(2):164-167. |
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| 作者姓名： | 王志刚 陈良友 边少锋 |
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| 作者单位： | 1. 海军工程大学导航工程系,武汉,430033
2. 总装第33试验训练基地,洛阳,471000 |
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| 摘 要： | 介绍了作为粒子滤波理论基础的递推贝叶斯估计的基本概念,说明了重要性函数对于粒子滤波器的设计是至关重要的。随后,给出了一种将EKF算法作为重要性函数的EPF算法,并提出将其用于静基座条件下的惯导系统非线性初始对准,通过计算机仿真对比了EPF和EKF的估计效果。仿真结果表明,EPF算法较传统的EKF算法对准时间更快,对准精度更高。
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| 关 键 词： | 惯性导航 初始对准 重要性函数 扩展粒子滤波 |
| 文章编号： | 1005-6734（2007）02-0164-04 |
| 修稿时间： | 2006-09-242007-03-21 |
Application of extended particle filter in INS non-linear alignment |
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| WANG Zhi-gang,CHEN Liang-you,BIAN Shao-feng.Application of extended particle filter in INS non-linear alignment[J].Journal of Chinese Inertial Technology,2007,15(2):164-167. |
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| Authors: | WANG Zhi-gang CHEN Liang-you BIAN Shao-feng |
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| Institution: | 1. Department of Navigation, Naval University Engineering, Wuhan 340033, China; 2. The 33rd Base of Training and Testing, General Equipment Department, Luoyang 471000, China |
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| Abstract: | The principle of Recursive Bayesian estimation was introduced which was the basis of Particle filter, and the significance of importance function to the design of particle filter was illustrated. An extended particle filter(EPF) algorithm was given whose importance function is extended Kalman filter(EKF). The EPF was used to estimate the INS alignment on stationary base, and the simulation result was compared with that of EKF. The simulation results show that the EPF is shorter in alignment time and more accurate in estimation precision than that of EKF in the case of low uncertainties in heading and tilt angle. |
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| Keywords: | inertial navigation alignment importance function extended particle filter |
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