Research on particle filter based geomagnetic aided inertial navigation algorithm

Inertial navigation system is an autonomous navigation system, but there exists error accumulation. The geomagnetic navigation has the features of long-term stability. In order to solve the problem that the inertial navigation system has accumulated errors, the geomagnetic information is introduced in this paper. Based on the actual situation, the geomagnetic aided inertial navigation system error model is established firstly. Because there is nonlinear problem in this system, the particle filter which is a new nonlinear filtering algorithm is applied to the geomagnetic aided inertial navigation system, and a simulation analysis is done. Simulation results show that, compared with the EKF algorithm, due to the particle filter algorithm has no linearization part, the navigation precision of particle filter based geomagnetic aided inertial navigation system can be enhanced.