Cubature Particle filter algorithm base on integrated navigation system

Abstract

In this research work, we study on the Cubature Particle filter (CPF) algorithm to calculate the estimate value of GPS/INS integrated navigation system. The error model of the GPS/INS integrated navigation system is nonlinear. CPF is the algorithm built on Cubature Kalman filter (CKF) and Particle filter (PF), which has the advantages of both. CPF may therefore provide a systematic solution for high-dimensional nonlinear filter problems. CPF is presented for simulation. Simulation results show the superior performance of this approach when compared with suboptimal techniques such as Cubature Kalman filter (CKF) in cases of large initial misalignment. The results of simulation demonstrate the improved performance of the CPF over conventional nonlinear filters. The research provides theoretical support for engineering design and modification. © Springer International Publishing Switzerland 2014.