MULTI-GNSS AND INS DATA FUSION ENHANCEMENT ALGORITHM COMBINED WITH ANT COLONY PARTICLE FILTERING

The Beidou Navigation Satellite System (BDS) has developed rapidly in China and will cover the world. In this paper, an enhancement algorithm for multi-GNSS and Inertial Navigation System (INS) data fusion based on Kalman filtering is designed.And a multi-GNSS and INS data fusion enhancement algorithm combined with ant colony particle ltering is proposed. The ant colony particle filter enhancement algorithm can make up for the shortcomings of insufficient number of sampled particles. Typical test scenarios are selected, and the results show that the multi-GNSS and INS data fusion enhancement algorithm combined with ant colony particle filtering can effectively improve the accuracy of positioning data.