Improved Adaptive Particle Filter for Integrated Navigation System
Mengchu Tian, Yuming Bo, Zhimin Chen, Panlong Wu and Gaopeng Zhao

Source CMES: Computer Modeling in Engineering & Sciences, Vol. 108, No. 5, pp. 285-301, 2015
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Keywords Adaptive; Particle filter; Integrated navigation; Chaos; Avoid factor.

Particle filter based on particle swarm optimization algorithm is not precise enough and easily trapping in local optimum, it is difficult to satisfy the requirement of advanced integrated navigation system. To solve these problems, an improved adaptive particle filter based on chaos particle swarm was proposed and used in GPS/INS integrated navigation system. This algorithm introduced chaos sequence to update the weight and threshold, which could improve the quality of samples and reduce the local optimization and enhance the global searching ability. In addition, the avoid factor was set which made the particles be away from low likelihood area. Finally, simulation results indicate that this algorithm improved the accuracy and robustness of GPS/INS integrated navigation system.

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