Abstract:

An improved method is put forward based on Gaussian particle filter aiming at overcoming the disadvantages of existing particle filter methods. The current measures are taken into consideration to estimate and append the distribution parameters of measure errors for getting the weighted factors of particles. The method can be used to solve nonlinear problems which have conditions that measure error distribution is Gaussian and state values have relatives with measure errors. Simulation results show more accuracy and less computation cost comparing with traditional PF, UPF and GPF methods.