中国空间科学技术

Chinese Space Science and Technology ›› 2011, Vol. 31 ›› Issue (3): 14-19.doi: 10.3780/j.issn.1000-758X.2011.03.003

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Design and Application of Particle Filtering Algorithm Based on URTS Smoothing Proposal Distribution Function

LI  Bao-Li1,2, GONG  Yi-Song3, GUI  Qing-Ming4   

  1. (1 Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450052)(2 China National Administration of GNSS and Applications, Beijing 100088)（3 Unit 61618,Beijing 102102)(4 Institute of Science, Information Engineering University, Zhengzhou 450001)
  • Received:2010-09-30 Revised:2011-01-28 Published:2011-06-25 Online:2011-06-25

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Abstract: To improve the state estimate performance of the particle filtering with the Unscented Kalman filtering proposal distribution function, the Unscented Kalman filtering and the Rauch-Tung-Striebel (RTS) fixed interval smoothing algorithm were integrated, and a new kind of proposal distribution function named as Unscented RTS smoothing proposal distribution function was designed. The Unscented RTS smoothing distribution implements the Unscented Kalman filtering, and then carries out the RTS fixedinterval smoothing to produce a prediction sample. The accuracy of prediction particles is greatly improved by the new proposal distribution function, and the state estimation accuracy of the corresponding particle filtering method (PF-URTS) is also improved. The applications of the new particle filtering algorithm to the GPS/DR integrated navigation system will prove the feasibility and validity of  the proposed  method.

Key words: Particle filtering, Proposal distribution function, Dead Reckoning, Global positioning systems