Application of Particle Filter With Uniform Resampling on SINS Initial Alignment

PEI Fu-jun; SUN Xin-rui; LIU Hong-yun; CUI Ping-yuan

Journal of Beijing University of Technology > 2008 > 34(6): 567-571,595.

PEI Fu-jun, SUN Xin-rui, LIU Hong-yun, CUI Ping-yuan. Application of Particle Filter With Uniform Resampling on SINS Initial Alignment[J]. Journal of Beijing University of Technology, 2008, 34(6): 567-571,595.

Citation:

PDF (383 KB)

Application of Particle Filter With Uniform Resampling on SINS Initial Alignment

College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China

More Information

Received Date: January 14, 2007
Available Online: December 14, 2022

Graphical Abstract

Abstract

Abstract

In order to solve the problem that traditional particle filter algorithm often collapses to a single point,this paper proposed a new particle filter algorithm by adding the uniform sampling algorithm to the random resampling.The uniform resampling algorithm improved the diversity of the particles in particle filter by inheriting the distributing bound of the abandoned particles.Then,this particle filter algorithm with uniform resampling was used to research the SINS non-Gauss and non-linear alignment problem.Simulated data show that the particle filter algorithm with uniform resampling results in more accurate alignment then the standard particle filter and improves the stability of the SINS alignment algorithm.
- particle filter,
- strap-down inertial navigation system(SINS),
- initial alignment,
- resampling

FullText(HTML)

References (11)

References

[1]	万德钧,房建成.惯性导航初始对准[M].南京:东南大学出版社,1998.
[2]	付梦印,邓志红,张继伟.Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[3]	GORDON N J,SALMOND D J,SMITH A F M.Novel approach to nonlinear/non-Gaussian Bayesian state estimation[J]. IEE Proceedings on Radar and Signal Processing,1993,140(2):107-113.
[4]	DOUCET A,GORDON N J.Particle filters for state estimation of jump Markov linear system[J].IEEE Transactions on Signal Processing,2001,49(3):613-624.
[5]	ROBERT C P,CASELLA G.Monte Carlo statistical method[M].New York:Springer-Verlag,1999.
[6]	RONGHUA L,BINGRONG H.Coevolution based adaptive Monte Carlo localization[J].Int J of Advanced Robotic Systems,2004,1(3):183-190.
[7]	王志刚,芮国胜,胡昊.UPF算法及其在目标跟踪中的应用[J].雷达科学与技术,2005,3(1):20-24.WANG Zhi-gang,RUI Guo-sheng,HU Hao.Unscented particle filter algorithm and its application to target tracking[J]. Radar Science and Technology,2005,3(1):20-24.(in Chinese)
[8]	袁泽剑,郑南宁,贾新春.高斯-厄米特粒子滤波器[J].电子学报,2003,31(7):970-973.YUAN Ze-jian,ZHENG Nan-ning,JIA Xin-chun.The Gausa-Hermite particle filter[J].Acta Electronica Sinica,2003, 31(7):970-973.(in Chinese)
[9]	魏春岭.非线性滤波与神经网络在导航系统中的应用研究[D].北京:北京航空航天大学自动化科学与电气工程学院,2001:83.WEI Chun-ling.Research on the navigation system using nonlinear filtering and neural networks[D].Beijing:School of Automation Science and Electrical Engineering,Beihang University,2001:83.(in Chinese)
[10]	LIU J S,CHEN R.Sequential monte carlo method for dynamic systems[J].Journal of American Statistical Association, 1998,93:1 032-1 044.
[11]	DOUCET A,GODSILL S,ANDRIEU C.On sequential Monte Carlo sampling methods for Bayesian filtering[J].Statist Comp,2000,10:197-208.

Cited By

Get Citation

PDF

XML

Article views (6) PDF downloads (6)

Turn off MathJax

Article Contents

Abstract

References

Application of Particle Filter With Uniform Resampling on SINS Initial Alignment

Abstract

References

Catalog

Export File

Citation

Format

Content