Open Access

ARTICLE

Improved Adaptive Particle Filter for Integrated Navigation System

by Mengchu Tian¹, Yuming Bo¹, Zhimin Chen², Panlong Wu¹, Gaopeng Zhao¹

1 School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China
2 China Satellite Maritime Tracking and Controlling Department, Jiangyin, 214431, China)
3 Corresponding author.

Computer Modeling in Engineering & Sciences 2015, 108(5), 285-301. https://doi.org/10.3970/cmes.2015.108.285

Abstract

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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Keywords

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