Application of federated particle filter to SINS-GPS/BDS integrated navigation system

Yang Shi, Huipeng Li, Xianmu Li, Lu Wang 

School of Instrumentation Science and Opto-electronics Engineering, Beihang University, 100191, China

When integrated navigation information is filtered, there may be non-linear sub-filter. The paper proposes federated particle filter. It is based on the framework of federated Kalman filter and uses the method of particle filter to process non-linear sub-filter, which enhances adaptability of federated Kalman filtering model. The paper applies federated particle filter to SINS-GPS/BDS integrated navigation system to establish filtering model. The simulation is made to verify the effectiveness of federated particle filter.