A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINSVNSGNS Integrated Navigation System
Joint Authors
Gao, Zhaohui
Zhong, Yongmin
Hu, Gaoge
Jia, Ke
Pei, Yifei
Gao, Shesheng
Wei, Wenhui
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-05-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
An improved filtering algorithm-robust adaptive spherical simplex unscented particle filter (RASSUPF) is proposed to achieve high accuracy, induce the amount of computation, and resist the influence of abnormal interference for the MINS/VNS/GNS integrated navigation system.
This algorithm adopts spherical simplex unscented transformation (SSUT) to approximate the probability distribution, employs the spherical simplex unscented Kalman filter (SSUKF) to generate the importance sampling density of particle filter, and applies robust and adaptive estimation to control the influence of the abnormal information on the state model and the observation model.
Simulation results demonstrate the proposed algorithm can effectively reduce the navigation error, improve the navigation positioning precision, and decrease the computation cost.
American Psychological Association (APA)
Jia, Ke& Pei, Yifei& Gao, Zhaohui& Zhong, Yongmin& Gao, Shesheng& Wei, Wenhui…[et al.]. 2019. A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINSVNSGNS Integrated Navigation System. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1197719
Modern Language Association (MLA)
Jia, Ke…[et al.]. A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINSVNSGNS Integrated Navigation System. Mathematical Problems in Engineering No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1197719
American Medical Association (AMA)
Jia, Ke& Pei, Yifei& Gao, Zhaohui& Zhong, Yongmin& Gao, Shesheng& Wei, Wenhui…[et al.]. A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINSVNSGNS Integrated Navigation System. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1197719
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197719