关键词: 无迹粒子滤波算法（UPF）, 建议分布, 全局采样, 全球定位系统/惯性导航系统（GPS/INS）, 组合导航

Abstract: It is difficult for UPF（Unscented Particle Filter） applying to the GPS/INS（Global Positioning System/Inertial Navigation System） integrated navigation because of its large calculation, so the method of proposal distribution generation for UPF based on global sampling is presented. Combining the latest measured values, it uses UKF to generate a proposal distribution for the particle set, eliminating the need for the UPF which applies UKF（Unscented Kalman Filter） link to each particle for circulation, eliminating the resembling step, reducing the computation of the UPF. Simulations use the pseudo range as the observations in nonlinear model which has 10-dimensional state variables. The results show that compared with PF, improved UPF has a higher accuracy in estimation, compared with UPF, it has smaller computation. Therefore it can solve the problem that it is difficult to apply to the GPS/INS integrated navigation for UPF because of its large calculation.