Hybrid filter combining with ZUPT for vehicle MINS

This paper proposes hybrid unscented particle filter for integrated navigation system of vehicle which have characteristics of long-time moving and frequent changes in dynamic performance and different non-linear and non-Gauss characteristics. The algorithm combined with zero velocity updates method (ZUPT) and effectively reduced the error of different vehicle's dynamic characteristics based on the integrated navigation system of vehicle. The test result show the method effectively to improved positioning accuracy and the error accumulation of vehicle.