约束无迹粒子滤波及其在汽车导航中的应用  

Constraint UPF Algorithm and Application in Vehicle Navigation System

作　　者：洪晋夫 刘锦昌[2] HONG Jin-fu;LIU Jin-chang(Shanxi Transportation Research Institute,Taiyuan 030006,China;Air and Missile Defense College,Air Force Engineering University,Xi’an 710051,China)

机构地区：[1]山西省交通科学研究院,太原030006 [2]空军工程大学防空反导学院,西安710051

出　　处：《火力与指挥控制》2019年第1期77-81,共5页Fire Control & Command Control

摘　　要：针对汽车组合导航系统要求滤波算法具有高精度,高稳定性,高时效性的特点,设计了一种基于约束方程的无迹粒子滤波算法,该算法通过约束方程使得非线性系统的维数降低,在保持无迹粒子滤波精度的基础上提高了算法的解算速度,使算法的时效性得到提高。在汽车组合导航系统状态方程和测量方程的基础上建立系统的约束方程,算法的仿真取得了良好的效果,说明该算法对导航系统的适应性较强。通过对比表明相对于扩展卡尔曼粒子滤波和无迹卡尔曼粒子滤波,该算法的导航精度和时效性方面优势明显,体现了该算法的优越性。Aiming at the characteristics of high precision,high stability and high efficiency for the vehicle integrated navigation system,a unscented particle filter algorithm based on constraintequation is designed. The dimensionality of the nonlinear system is reduced by the constraint equation,and the computational speed of the algorithm is improved on the basis of keeping the accuracy of unscented particle filter. The real-time performance of the algorithm is improved. The constraint equation of vehicle integrated navigation system is established based on the equation of state and the equation of measurement. The simulation of thisalgorithm results show that the algorithm is more adaptable to the navigation system. Compared with extend kalman particle filter and unscented particle filter,this filter algorithm’s navigation accuracy and timeliness have obvious advantages,which show the superiority of the algorithm.

关 键 词：约束方程 无迹粒子滤波 汽车导航 均方根误差 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]