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Ji Ying,Liu Zhaoxiang,Liu Gang,et al.Positions research of Li Ziyu,Qin Honglei.Application of improved particle filter vehicle navigation system based on Kalman filter[J]. in GPS system[J].Computer Engineering and Design,2010, Transactions of the Chinese Society for Agriculture Machinery, 2009,40(supp):13-17.(in Chinese with English abstract). Positioning method of vehicle navigation system based on improved particle filter Ji Ying12,Zhang Man2,Liu Gang?,Liu Zhanxiang2 (1.College of Information and Science and Technology Agricultural University of Hebei,Baoding 071000,China; 2.Key laboratory of Modern Precision Agriculture System Integration Research Ministry of Education, China Agricultural University,Beijing 100083,China) Abstract:In agriculture machinery navigation system,Kalman filter is widely used,but it is not good for non-linear system.An improved particles filter methodology used in data fusion was discussed to fuse the data for the better position information.The method involves three parts,the first is anti-outlie step to reduce the error effectively made by GPS;the second is to induct the UKF as the important function,and resample to avoid the degradation;the third is to use MCMC step to reduce the sample impoverishment.The simulation results show that the improved particle filter method can increase the accuracy and reduce the position error.The method can meet the requirements of agriculture machinery navigation. Key words:navigation,agriculture machinery,non-linear model,particle filter,resampling,MCMC 万方数据@@[1] 胡士强，敬忠良.粒子滤波算法综述[J].控制与决策， 2005,20(4):361-365. HuShiqiang,JingZhongliang.Overviewofparticlefilter algorithm[J].ControlandDecision,2005,20(4):361-365. (inChinesewithEnglishabstract). @@[2] 聂琦.非线性滤波及其在导航系统中的应用[D].哈尔滨： 哈尔滨工程大学，2008. NieQi.NonlinearFilteranditsApplicationinNavigation System[D].Harbin:HarbinEngineeringUniversity,2008. @@[3] GordonNJ,SalmondDJ,SmithAFM.Novelapproachto nonlinear/non-GaussianBayesianstateestimation[J].IEEE ProceedingsofRadarandSignalProcessing,1993,140(2): 107-113. @@[4] 姚西峰，钱峰，田蔚风.基于粒子滤波的GPS/DR组合导 航算法研究[J].计算机仿真，2008，25(7):262-264+277 YaoXifeng,QianFeng,TianWeifeng.AGPS/DRintegrated navigationalgorithmbasedonparticlefilter[J].Computer Simulation,2008,25(7):262-264,277.(inChinesewith Englishabstract) @@[5] 相威，汪立新，林孝焰.几种改进的粒子滤波算法性能比 较[J].计算机仿真，2009，26(4):120-124. 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FengChi,ZhaoNa.ResearchonMCMCparticlefilter algorithmbasedoneffectiveparticles[J].AppliedScience andTechnology,2008,44(32):60-63.(inChinesewith Englishabstract). @@[11]赵琳，聂琦，高伟.基于MCMC方法的正则粒子滤波算 法及其应用[J].仪器仪表学报，2008，29(10):2156-2162. ZhaoLin,NieQi,GaoWei.Regularizedparticlefiltering algorithmanditsapplicationbasedonMCMC method[J]. ChineseJournalofScientificInstrument,2008,29(10):2156 -2162.(inChinesewithEnglishabstract). @@[12]黄伟平，徐毓.一种抗野值的UPF算法.现代防御技术[J]. 2007,35L(6):125-128. HuangWeiping,XuYu.Analgorithmofunscentedparticle filterforoutliersrejection[J].ModemDefenceTechnology. 2007,35(6):125-128.(inChinesewithEnglishabstract). @@[13]籍颖，刘兆祥，刘刚，等.基于Kalman滤波农用车辆导 航定位方法[J].农业机械学报，2009，40(增刊)：13-17. Ji Ying,Liu Zhaoxiang,Liu Gang,etal.Positionsresearchof vehiclenavigationsystembasedonKalmanfilter[J]. TransactionsoftheChineseSocietyforAgricultureMachinery, 2009,40(supp):13-17.(inChinesewithEnglishabstract). Positioningmethodofvehiclenavigationsystembasedon improvedparticlefilter JiYing ZhangManLiuGangLiuZhanxiang 万方数据