Schemes for optimal application of Unscented Particle Filter (UPF) in real time Integrated Navigation Systems?

03 May 2016 1 7K Report

What are the prospects of applying Unscented Particle Filter in real time Integrated Navigation System (INS/GNSS).

UPF being computationally burdensome, what are the mitigation schemes to reduce the computational burden?

For INS/GNSS usually that is computationally too intensive, for any practical benefits. It helps when using terrain data, where the Gaussianity assumption is destroyed.

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