Improved particle filter algorithm for INS/GPS integrated navigation system
一种新的粒子滤波算法在INS/GPS组合导航系统中的应用

To deal with the problem sample degenerationand sample impoverishmentin traditional particle filter(PF), a new particle filter algorithm is presented. In the importance sampling, this new filter uses the difference filter and the latest observed measurements to generate the importance-density. In the resampling step, it makes use of the posterior density of the approximate states in the Gaussian mixture model and employs the expectation-maximization(EM) algorithm to calculate the parameters of the Gaussian ...