Nouvelles approches en filtrage particulaire. Application au recalage de la navigation inertielle. (New particle filtering methods. Application to terrain-aided inertial navigation)

Les travaux presentes dans ce memoire de these concernent le developpement et la mise en oeuvre d'un algorithme de filtrage particulaire pour le recalage de la navigation inertielle par mesures altimetriques. Le filtre developpe, le MRPF (Mixture Regularized Particle Filter), s'appuie a la fois sur la modelisation de la densite a posteriori sous forme de melange fini, sur le filtre particulaire regularise ainsi que sur l'algorithme mean-shift clustering. Nous proposons egalement une extension du MRPF au filtre particulaire Rao-Blackwellise appelee MRBPF (Mixture Rao-Blackwellized Particle Filter). L'objectif est de proposer un filtre adapte a la gestion des multimodalites dues aux ambiguites de terrain. L'utilisation des modeles de melange fini permet d'introduire un algorithme d'echantillonnage d'importance afin de generer les particules dans les zones d'interet. Un second axe de recherche concerne la mise au point d'outils de controle d'integrite de la solution particulaire. En nous appuyant sur la theorie de la detection de changement, nous proposons un algorithme de detection sequentielle de la divergence du filtre. Les performances du MRPF, MRBPF, et du test d'integrite sont evaluees sur plusieurs scenarios de recalage altimetrique

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