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An Improved Resampling Scheme for Particle Filtering in Inertial Navigation System

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Intelligent Information and Database Systems (ACIIDS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11432))

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Abstract

The particle filter provides numerical approximation to the nonlinear filtering problem in inertial navigation system. In the heterogeneous environment, reliable state estimation is the critical issue. The state estimation will increase the positioning error in the overall system. To address such problem, the sequential implementation resampling (SIR) considers cause and environment for every specific resampling task decision in particle filtering. However, by only considering the cause and environment in a specific situation, SIR cannot generate reliable state estimation during their process. This paper proposes an improved resampling scheme to particle filtering for different sample impoverishment environment. Adaptations relating to noise measurement and number of particles need to be made to the resampling scheme to make the resampling more intelligent, reliable and robust. Simulation results show that proposed resampling scheme achieved improved performance in term of positioning error in inertial navigation system In conclusion, the proposed scheme of sequential implementation resampling proves to be valuable solution for different sample impoverishment environment.

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Author information

Authors and Affiliations

  1. School of Computing, Universiti Teknologi Malaysia, Johor Bahru, Malaysia

    Wan Mohd Yaakob Wan Bejuri, Mohd Murtadha Mohamad & Raja Zahilah Raja Mohd Radzi

  2. Next Tech PLT., Skudai, Malaysia

    Sheikh Hussain Shaikh Salleh

  3. Faculty of Information and Communication Technology, Universiti Teknikal Malaysia Melaka, Durian Tunggal, Malaysia

    Wan Mohd Yaakob Wan Bejuri

Authors
  1. Wan Mohd Yaakob Wan Bejuri
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  2. Mohd Murtadha Mohamad
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  3. Raja Zahilah Raja Mohd Radzi
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  4. Sheikh Hussain Shaikh Salleh
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Correspondence to Wan Mohd Yaakob Wan Bejuri .

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Editors and Affiliations

  1. Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Ngoc Thanh Nguyen

  2. Bina Nusantara University, Jakarta, Indonesia

    Ford Lumban Gaol

  3. National University of Kaohsiung, Kaohsiung, Taiwan

    Tzung-Pei Hong

  4. Wrocław University of Science and Technology, Wrocław, Poland

    Bogdan Trawiński

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Wan Bejuri, W.M.Y., Mohamad, M.M., Raja Mohd Radzi, R.Z., Shaikh Salleh, S.H. (2019). An Improved Resampling Scheme for Particle Filtering in Inertial Navigation System. In: Nguyen, N., Gaol, F., Hong, TP., Trawiński, B. (eds) Intelligent Information and Database Systems. ACIIDS 2019. Lecture Notes in Computer Science(), vol 11432. Springer, Cham. https://doi.org/10.1007/978-3-030-14802-7_48

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  • DOI: https://doi.org/10.1007/978-3-030-14802-7_48

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  • Online ISBN: 978-3-030-14802-7

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