【摘要】 组合导航系统中存在非线性环节,粒子滤波技术能较好地解决这些非线性问题。本文根据常见组合导航系统非线性滤波问题,总结了组合导航系统非线性滤波模型特点及一般建模方法。从粒子滤波算法实现框架出发,分析总结了粒子滤波性能特点及其改进演化规律。根据惯性组合导航系统中数据处理特点,对如何选择适合组合导航系统的粒子滤波算法提出了选择原则。分析和总结了组合导航系统中非线性滤波建模方法及粒子滤波改进优化策略,对解决组合导航系统的非线性滤波问题具有理论和实践指导意义。更多还原

【Abstract】 This paper uses particle filter(PF) to solve the nonlinear problems in integrated navigation.The characteristic and general modelling methods for the filtering model are summarized based on typical problems in nonlinear filtering of integrated navigation.From the framework of PF algorithm,the characteristics and improved measures about PF are achieved.According to the characteristics of data processes in integrated navigation,the rules for selecting the appropriate PF algorithms are given to resolve the problems.The experiments show that the optimized measures about PF and the modelling methods about nonlinear filtering could effectively solve the nonlinear filtering problems in integrated navigation system.更多还原