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《Journal of Southeast University(Natural Science Edition)》 2008-S2
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A new nonlinear filter for GPS/DR integrated navigation system

Xiang Li Liu Yu Su Baoku(Space Control and Inertial Technology Research Center,Harbin Institute of Technology,Harbin 150001,China)  
In order to solve the "sample impoverishment" problem in traditional particle filter,a new method is proposed.An effective proposal distribution is obtained from unscented Kalman filter using the latest measurement;and a new resampling process is accomplished by sampling from a novel distribution based on Gaussian mixture model resulting from expectation-maximization(EM) algorithm.The effects caused by sample impoverishment are lessened.Test on the global position system/ dead reckoning(GPS/DR) integrated navigation system and simulation results demonstrate the effectiveness of this new method.
【Fund】: 国家安全重大基础研究资助项目(973-61334)
【CateGory Index】: TN713
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