卡尔曼/粒子滤波器在船用组合导航中的应用  

Kalman/particle Filter Applied in Integrated Navigation

作　　者：祝雪芬[1] 陈熙源[1] 涂刚毅[1] 李滋刚[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《舰船电子工程》2009年第4期59-63,共5页Ship Electronic Engineering

基　　金：973计划课题(编号:2009CB724002)资助;教育部新世纪人才支持计划项目(编号:NECT-06-0462)资助;船舶支撑计划项目(编号:6922001029)资助

摘　　要：采用将全球定位系统GPS(Global Positioning System)与捷联惯性导航系统SINS(Strapdown Inertial Navigation System)进行组合导航的方式,组合后系统性能将优于GPS或SINS单独使用时的任一系统。介绍了基本粒子滤波器算法原理并对卡尔曼/粒子组合滤波器在船用GPS/SINS组合导航中的实现形式及算法特点进行了研究。仿真结果表明,对于船用SINS/GPS组合导航问题,卡尔曼/粒子组合滤波器能够获得较高的滤波精度,满足实际船用导航要求。An integrated GPS （Global Positioning System）/SINS （Strapdown Inertial Navigation System） navigation system is presented in this paper. The integration of GPS and SINS, therefore, provides a navigation system that has superior performance in comparison with either a GPS or a SINS stand-alone system. The principle of Particle filter is proposed in this paper. A description of Kalman/particle combined filter algorithm applied in integrated navigation system for watercraft navigation is given, including its implementation and algorithm characters. The simulation has demonstrated that good results in SINS/GPS filtering accuracy could be obtained by applying Kalman/particle combined filter, which satisfying the practical demand for watercraft navigation.

关 键 词：组合导航 卡尔曼/粒子组合滤波器 蒙特卡罗方法 贝叶斯估计 

分 类 号：U666.12[交通运输工程—船舶及航道工程]