Robust Interacting Multiple Model Unscented Particle Filter for Navigation

المؤلفون المشاركون

Han, Yulan
Xue, Li
Na, Chunning

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-10، 10ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2020-11-10

دولة النشر

مصر

عدد الصفحات

10

التخصصات الرئيسية

هندسة مدنية

الملخص EN

In order to solve the problems of particle degradation and difficulty in selecting importance density function in particle filter algorithm, a robust interacting multiple model unscented particle filter algorithm is presented, which is based on the advantages of interacting multiple model and particle filter algorithms.

This algorithm can use the unscented transformation to get the particles that contain the latest measurement information of each model and calculate the robust equivalent weight function.

This robust factor is designed to adjust the estimation and variance, and the important distribution function adaptively obtained is closer to the true distribution.

Then, the particles weights can be flexibly adjusted in real time by using Euclidean distance to improve the computational efficiency during the resampling process.

In addition, this filter process can comprehensively describe the uncertainty of the statistics characteristic of observation noise between different models.

The diversity of available particles is increased, and the filter precision is improved.

The proposed algorithm is applied to the SINS/GPS integrated navigation system, and the simulation analysis results demonstrate that the algorithm can effectively improve the filter performance and the calculation precision in positioning of integrated navigation system; thus, it provides a new method for nonlinear model filter.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Xue, Li& Han, Yulan& Na, Chunning. 2020. Robust Interacting Multiple Model Unscented Particle Filter for Navigation. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1201799

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Xue, Li…[et al.]. Robust Interacting Multiple Model Unscented Particle Filter for Navigation. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1201799

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Xue, Li& Han, Yulan& Na, Chunning. Robust Interacting Multiple Model Unscented Particle Filter for Navigation. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1201799

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1201799