Comparison of Particle Filter Resampling Methods in Aircraft Positioning

The positioning of aircraft, based on data from multiple navigation sources, can be performed with various tools. One of them is a probability estimator, using Bayes rule for conditional probability calculation, called Particle Filter (PF). The PF structure consists of processes performed at each simulation step. One of the processes is called resampling.This paper describes process of resampling in several selected methods for aircraft positioning. Individual methods are analysed in terms of resulting precision of the position estimation, using real navigation data obtained from on-board recorder of Mi-17 helicopter, and also in terms of implementation of the designed DME/DME/ADAHRS navigation mode. Furthermore, the selected methods are analysed in terms of statistical indicators and computer performance requirements. The analysis is provided by MATLAB©.