Mixture Federated-Particle Filter and its Application on Integrated Navigation System

In order to solve the integrated navigation system's state and parameters estimation problem in the complex environment of non-linear,non-Gaussian,a new method combined the advantages of both federated and particle filter has been proposed in this paper to overcome the deficiency of federated filter in dealing with non-Gaussian and non-linear system.Taking the INS/BD/Loran-C Integrated Navigation System as a research subject,this paper designed a mixture federated-particle filter and researched the application of the proposed method in the INS/BD/Loran-C integrated navigation system.The simulation results demonstrate the effectiveness of the proposed method,thus broadening the application range of federated filter.