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本文介绍了最佳非线性/非高斯滤波应用到临界情况的INS/GPS综合的问题。用所谓质点滤波的新技术使这种方法成为可能,并且当与诸如广义卡尔曼滤波这种经典的次最佳技术比较时,表现出优越性能。介绍了质点滤波理论并讨论了GPS/INS综合仿真结果。
This article describes the problem of applying INS / GPS synthesis for critical nonlinear / non-Gaussian filtering. This approach is made possible with newer techniques called particle-based filtering and shows superior performance when compared to classical suboptimal techniques such as generalized Kalman filtering. The particle filter theory is introduced and the GPS / INS synthetic simulation results are discussed.