Hybrid filter combining with ZUPT for vehicle MINS

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