Abstract
Aiming at the integrated navigation system with model errors, the model errors is assumed as a process noise for Gaussian white noise to process in Kalman filtering, thus causing larger state estimation error of nonlinear filtering system and even divergent. This paper presents a nonlinear model predictive particle filtering method considers the model error of real-time estimation, and then corrects the nonlinear and non-Gaussian system model with model error. Compared and simulated the new method with the predictive filtering and the particle filtering in Strap-down Inertial Navigation System/Synthetic Aperture Radar integrated navigation system. Experiment and comparison results demonstrate that the proposed method can improve the filter performance and integrated navigation calculation accuracy significantly.
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