Application of Niching Genetic Extended Particle Filter in GPS/SINS Integrated Navigation

Kalman filter is limited to apply to linear and Gaussian system only. Particle filter has the problem of degeneracy phenomenon and sample impoverishment caused by resampling. Aimed at solving problems above, this paper proposes Niching Genetic Algorithm Extended Particle Filter (NGA-EKPF), which improves resampling with niching genetic algorithm by integrating EKF to optimize importance distribution function. Theoretical analysis and computer simulation of positioning estimation precision in GPS/SINS integrated navigation system shows that algorithm proposed in this paper makes evident improvement in performance.