孙伟,刘经洲

• 1:辽宁工程技术大学测绘与地理科学学院

摘要(Abstract)：

针对组合导航数据融合中的粒子滤波(PF)存在粒子退化现象，以及容积卡尔曼滤波(CKF)不能准确估计非高斯噪声下的状态等问题，该文提出容积粒子滤波(CPF)方案并将其应用于捷联惯性导航系统/全球定位系统(SINS/GPS)松组合数据处理。通过将容积卡尔曼滤波作为粒子滤波中的重要性密度函数对SINS/GPS松组合系统中的导航参数进行估计，基于容积滤波与粒子滤波对非线性非高斯的优势，得到该条件下的SINS/GPS松组合导航后验信息。搭建仿真平台，分别开展基于CPF、CKF及扩展粒子滤波(EPF)的组合系统估计，结果表明，容积粒子滤波可进一步提高SINS/GPS松组合系统的姿态、速度及位置参数估计精度。在对粒子滤波做出更好优化的同时也为SINS/GPS松组合导航的质量控制策略提供了一种新思路。

关键词(KeyWords)： 容积滤波;粒子滤波;SINS/GPS;松组合;数据融合

Abstract:

Keywords:

基金项目(Foundation): 2019辽宁省“兴辽英才计划”青年拔尖人才项目(XLYC1907064);; 2019年辽宁省自然基金资助计划项目(2019-MS-157);; 辽宁工程技术大学学科创新团队资助项目(LNTU20TD-06)

作者(Author): 孙伟,刘经洲

DOI: 10.16251/j.cnki.1009-2307.2022.09.001

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