Combining ZUPT with hybrid particle filter for vehicle MEMS-INS

This paper proposes hybrid unscented particle filter(HUPF)for integrated navigation system(INS)of vehicle which has characteristics of long-time moving and frequent changes in dynamic performance and different non-linear characteristics.The algorithm combined with zero velocity updates method and effectively reduced the error of different vehicle's dynamic characteristics based on the integrated navigation system of vehicle.The result shows the method effectively improved positioning accuracy and the error accumulation of vehicle.