A quaternion-based robust adaptive spherical simplex unscented particle filter for MINS/VNS/GNS integrated navigation system

Jia, K, Pei, Y, Gao, Z, Zhong, Y, Gao, S, Wei, W and Hu, G 2019, 'A quaternion-based robust adaptive spherical simplex unscented particle filter for MINS/VNS/GNS integrated navigation system', Mathematical Problems in Engineering, vol. 2019, pp. 1-13.


Document type: Journal Article
Collection: Journal Articles

Title A quaternion-based robust adaptive spherical simplex unscented particle filter for MINS/VNS/GNS integrated navigation system
Author(s) Jia, K
Pei, Y
Gao, Z
Zhong, Y
Gao, S
Wei, W
Hu, G
Year 2019
Journal name Mathematical Problems in Engineering
Volume number 2019
Start page 1
End page 13
Total pages 13
Publisher Hindawi
Abstract 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.
Subject Automation and Control Engineering
Keyword(s) Aided inertial navigation
DOI - identifier 10.1155/2019/8532601
Copyright notice Copyright © 2019 Ke Jia et al. Tis is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
ISSN 1024-123X
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