Extended Particle Filter (EPF) for INS/GPS Land Vehicle Navigation Applications

Priyanka Aggarwal, Dongqing Gu, Sameh Nassar, Zainab Syed and Naser El-Sheimy

Abstract:	Navigation comprises the integration of methodologies and systems for estimating the time varying position, velocity and attitude of moving objects. Navigation using integrated INS/GPS systems requires in general extensive evaluations of nonlinear equations involving double integration. Currently, integrated navigation systems are commonly implemented using Extended Kalman Filter (EKF) and most recently Unscented Kalman Filter (UKF). The EKF assumes linear process and measurement models while both the EKF and UKF approximate the noise models with Gaussian fits. This approximation is unrealistic for highly nonlinear systems, which is true for both EKF and UKF implementations. To overcome these limitations, Particle Filter (PF) was proposed lately since it is a non-parametric filter and hence it can easily deal with non-linearities and non-Gaussian noises. In this paper, an Extended Particle Filter (EPF) is developed as an alternative to the common EKF for land-vehicle navigation applications. Experimental GPS/INS datasets including dual frequency carrier phase GPS receiver data and inertial measurements from two different MEMSgrade Inertial Measuring Units (IMUs) installed on same vehicle are used to evaluate the proposed EPF technique. The performance of the developed EPF is compared to the performance of current estimation techniques such as the EKF. The comparison is the difference between the navigation errors of the two filters when GPS signals are available all the time and during GPS signal outages.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	2619 - 2626
Cite this article:	Aggarwal, Priyanka, Gu, Dongqing, Nassar, Sameh, Syed, Zainab, El-Sheimy, Naser, "Extended Particle Filter (EPF) for INS/GPS Land Vehicle Navigation Applications," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 2619-2626.
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