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《Ship Electronic Engineering》 2011-01
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Fuzzy Adaptive Kalman Filtering in INS/GPS Integrated Navigation System

Nie Haoxiang1) Guan Jin2) Bian Hongwei1)(College of Electrical Engineering and Information Engineering,Naval University of Engineering1),Wuhan 430033)(Navy Equipment Department2),Beijing 100036)  
The measurement noise in the INS/GPS integrated navigation system is complex and variable,which could bring divergence.To solve this problem,this paper presents a fuzzy adadptive Kalman filtering algorithm based on the "convariance matching" technology.By modifying the measurement noise covariance of Kalman filtering online by the fuzzy logic controller,the technology could restrain divergence to improve the accuracy of the system.The simulation results indicate that,the algorithm has the better navigation accuracy than the regular Kalman filter algorithm.
【CateGory Index】: U666.1
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