Filtering Algorithm Research Of BDS/DR Integrated Navigation System

Abstract:With the rapid development of China’s navigation satellite technology, China has already built its own Beidou navigation Satellite system (BDS). At present, BDS has provided services for the Asia-Pacific region. However, as the satellite signal is easily affected by external environment during transmission, the satellite signal which the user terminal receives will deteriorate or even interrupt. Therefore, using only one single navigation system to determine the position of the target in movement may cause the phenomenon of unstable positioning accuracy.Focusing on the problem, on the basis of studying various integrated navigation system. This paper analysises the advantages of positioning accurately on moving target by BDS/DR integrated navigation system. In response to the practical application environment of satellite integrated navigation system, the paper analyzes and studies the advantages and disadvantages of various filtering algorithms which are commonly used.According to the actual situation of unknown mathematical model, system noise and measurement noise statistical properties of the satellite navigation system, this paper applies unscented particle filter (UPF) to BDS/DR satellite navigation system and analyzes the advantages from the perspective of positioning accuracy. Aiming at the defects of traditional UPF filtering algorithm, this paper proposes an alternative method for the square root to improve the UPF filtering algorithm to form RSRVUPF algorithm. Then applies the RSRVUPF algorithm to BDS/DR satellite navigation system and analyzes the advantages of new algorithm in performance from the perspective of positioning accuracy and algorithm redundancy by making comparison with the standard EKF and UPF. The results show that new algorithm can reduce the computation while ensuring the positioning accuracy of the BDS/DR integrated navigation system.