Hybrid Particle Filter for Vehicle MEMS-INS

摘要：

This paper proposes hybrid unscented particle filter for integrated navigation system of vehicle which have characteristics of long-time moving and frequent changes in dynamic performance and different nonlinear and non-Gauss characteristics. The algorithm combined with zero velocity updates method (ZUPT) and effectively reduced the error of different vehicles dynamic characteristics based on the integrated navigation system of vehicle. The test result show the method effectively to improved positioning accuracy and the error accumulation of vehicle.

关键词： hybrid unscented particle filter (HUPF) integrated navigation system (INS) ZUPT Non-linear GPS output

作者: Lijie Yu Zongyu Gao Desheng Li

作者单位: College of Automation,Beijing Union University Beijing 100101,China MEMS Technology Research Center Beijing University of Technology Beijing 100124,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 122-125

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）