粒子滤波在GPS 动态滤波中的应用
首发时间:2010-03-10
摘要:本文给出了粒子滤波的GPS动态滤波的算法。在GPS导航系统中存在的噪声对GPS导航精度存在比较大的影响。传统的卡尔曼滤波算法对GPS动态滤波的效果不是很好,滤波后的均方误差仍然比较大。另外,卡尔曼滤波对GPS滤波的数学模型比较敏感,噪声的要求也必须是高斯白噪声。而卡尔曼滤波则能比较好地适应非线性非高斯的系统,因此更加适合GPS动态滤波。仿真结果表明,粒子滤波的GPS动态滤波要比卡尔曼滤波好。
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Appliction of the Particle Filter in GPS dynamic filtering
Abstract:In this paper,introduced Particle Filter for GPS dynamic filte.In GPS navigation,the noise affects the position accuracy.The performance of the traditional Kalman filter is not good,while the root mean square error is still great.Meanwhile,the Kalman filter is sensitive of the GPS filter model,and the noise of the model is also confined as Gaussian White Noise.While,the Particle Filter suites the non-linear /non-Gaussian system well.The result of the simulation show that,the fitered RMS error of the Partilce fiter is better than that of the Kalman Filter.
Keywords: GPS Kalman Filter Particle Filter
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