INERTIAL/GEOMAGNETIC INTEGRATED NAVIGATION ALGORITHM BASED IMM-PF
Liu Ming 1, 2) ; and Wang Haijun 2)
1)Key Laboratory of Aviation Information and Control Technology in Universities of Shandong, Binzhou 256603;2)Aviation Information Technology R&D Center, Binzhou College, Binzhou 256603
Abstract The problem of nonlinearity and system noise uncertainty in the inertial and geomagnetic integrated navigation systems seriously affected the navigation accuracy of the systems.For solving the problem, Firstly, nonlinear model set of the system is established aming the system noise uncertainty, and the model set should cover a variety of noise conditions. Secondly, the Particle Filter (PF) is used as the IMM matched filter. Thus IMMPF algorithm is proposed, and the nonlinear equations can be used directly in this algorithm.The simulation results show that, compared to conventional EKF algorithm, in the condition of system noise uncertainty, IMMPF algorithm can automatically adjust the system model, can guarantee the convergence of the system quickly, and can improve the navigation accuracy.
