Artificial Bee Colony Particle Filtering Algorithm for Integrated Navigation

Aiming at the issues of particle degeneracy and impoverishment in the conventional particle filtering (CPF) algorithm, an artificial bee colony particle filter (ABCPF) algorithm is propose in this paper for the integrated navigation. After applying the artificial bee colony algorithm, diversity of particles has been improved, followed by improvement of accuracy of integrated navigation system (INS). hence, the optimization of the distribution of particles is achieved. Compared with the CPF algorithm, simulation results show that the velocity error and position error can be reduced by at least 18% and 14% respectively.