The Application Reserch of Unscented Particle Filter Algorithm to GPS/DR

In this paper, a new particle filter algorithm - unscented particle filter (UPF) is given based on the analysis of extended Kalman filter (EKF), general particle filter (PF) and unscented Kalman filter (UKF), and then it is applied to GPS/DR integrated navigation system. Finally, the feasibility and accuracy of UPF algorithm are proved, with a simulation and compare of UPF and PF in GPS/DR integrated navigation system