Design of robust cubature fission particle filter algorithm in multi-source cooperative navigation

As a part of the multi-source cooperative navigation scheme, data fusion has a significant impact on the quality of state estimation. Particle filtering has gradually become the focus of many fusion methods due to its unique theoretical advantages in nonlinear non-Gaussian systems. However, the particle degradation and the resulting sample impoverishment restrict its application in complex engineering scenarios. In this paper, a robust cubature fission particle filter (RCFPF) is proposed to deal with these problems. First, in the framework of cubature rule, Huber function is used to combine the L2 norm and L1 norm to improve the importance density function(IDF), suppress the observation noise. Meanwhile, the proposed distribution(PD) is further optimized by combining the Gaussian distribution with Laplace distribution to alleviate particle degradation. Second, the particle swarm is fissioned before resampling, and the particle weight is reconstructed by fission of high weight particles and covering low weight particles to inhibit sample impoverishment. The vehicle experiments of multi-source cooperative navigation show that the proposed algorithm achieves better test results in accuracy and robustness than extended Kalman filter (EKF), strong tracking particle filter (STPF), and cubature particle filter (CPF).