Tracking and Identification for GPS/DR Integrated Navigation System with Unknown Parameters
Li Jiang① Qian Fu-cai①② Liu Ding① Hu Shao-lin①
①(School of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, China) ②(State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710054, China)
Abstract：This paper propses a filtering method for GPS/DR (Global Positioning System/Dead-Reckoning) integrated navigation system with unknown parameters. This method firstly structures a self-organizing state space model, and then estimates the state vector by using Monte Carlo filtering method for this new system model. Because particle filter is easy to make a search of the unknown parameters into a subset of the initial sampling for the self-organization model an artificial fish swarm-partical filter algorithm is put forward. The algorithm not only can estimate the system state, but also can make the sampling distribution of the unknown parameters move to the true parameter distribution. Ultimately, the true value of the unknown parameters are identified. The simuliation results show the effectiveness of the proposed method.
李江, 钱富才, 刘丁, 胡绍林. 具有未知参数的GPS/DR组合导航系统跟踪与辨识[J]. 电子与信息学报, 2013, 35(4): 921-926.
Li Jiang, Qian Fu-Cai, Liu Ding, Hu Shao-Lin. Tracking and Identification for GPS/DR Integrated Navigation System with Unknown Parameters. , 2013, 35(4): 921-926.
2013, Vol. 35 
