LAUSR

The unscented particle filter (UPF) combines the advantages of both the unscented Kalman filter and particle filter (PF) algorithms. However, during the fusion of multi-source information for UAV integrated navigation, the UPF may encounter problems related to measurement biases and particle depletion. These issues can lead to algorithm results that are unsatisfactory or divergent. To address these challenges, a novel approach called the consider unscented particle filter with genetic algorithm (GA-CUPF) is proposed. The GA-CUPF algorithm incorporates covariance and co-covariance of biases into the state estimation covariance through the ‘consider’ method employed by the CUPF, and it should be noted that the biases are not estimated in this process. Moreover, the GA-CUPF algorithm enhances the importance probability density of particles to avoid the degeneracy of PF algorithm and improves particle diversity through the application of selection, crossover, and mutation methods in GA. Simulation results demonstrate that the proposed GA-CUPF algorithm can effectively mitigate the adverse effects of measurement biases and particle depletion that the UPF algorithm faces in the UAV navigation system. Additionally, it significantly improves the accuracy of UAV integrated navigation.