中文摘要：

为了在 strapdown 解决信息熔化的问题，放综合航行系统由 nonlinear/non-Gaussian 错误描述了的系统(GPS ) 的惯性的航行系统(罪恶)/celestial 航行系统(CNS )/global 当模特儿，一个新算法叫了过滤的联合 unscented 粒子(FUPF ) 算法被介绍。在这个算法， unscented 粒子过滤器(UPF ) 用作本地过滤器，联合过滤器被用来熔化所有本地过滤器的产量，并且全球过滤器结果被获得。因为算法没被限制到 Gaussian 噪音的假设，它具有到 non-Gaussian 噪音描述的综合航行系统的大意义。建议算法在一条车辆调遣轨道被测试，它包括了六个飞行阶段：爬，水平飞行，左拐弯处，水平飞行，正确拐弯处和水平飞行。模拟结果被介绍在常规联合 unscented Kalman 过滤器(FUKF ) 上表明 FUPF 的改进表演。例如，位置错误的平均数减少从( 0.640 釨??辇??貼鳥趤觧蒰蟥貒?蒚蟩麱鯩?飦?鞑鳥????????????躌鯥??迥鞾?蒞?钸????蓨?髧蚍髧蚈??飦?鞑鳥麢諥鲽??貼鳥龜?蒚??鋥?A?蚛??薶????????鋥?′?特?杭欯?裥? 鳥芀

英文摘要：

To solve the problem of information fusion in the strapdown inertial navigation system （SINS）/celestial navigation system （CNS）/global positioning system （GPS） integrated navigation system described by the nonlinear/non-Gaussian error models, a new algorithm called the federated unscented particle filtering （FUPF） algorithm was introduced. In this algorithm, the unscented particle filter （UPF） served as the local filter, the federated filter was used to fuse outputs of all local filters, and the global filter result was obtained. Because the algorithm was not confined to the assumption of Gaussian noise, it was of great significance to integrated navigation systems described by the non-Gaussian noise. The proposed algorithm was tested in a vehicle＇s maneuvering trajectory, which included six flight phases： climbing, level flight, left turning, level flight, right turning and level flight. Simulation results are presented to demonstrate the improved performance of the FUPF over conventional federated unscented Kalman filter （FUKF）. For instance, the mean of position-error decreases from （0.640× 10^-6 rad, 0.667× 10 ^-6 rad, 4.25 m） of FUKF to （0.403× 10 ^-6 rad, 0.251 × 10^-6 rad, 1.36 m） of FUPF. In comparison of the FUKF, the FUPF performs more accurate in the SINS/CNS/GPS system described by the nonlinear/non-Gaussian error models.