Application of Fuzzy Adaptive Kalman Filtering on GPS/INS Integrated Navigation System

Ming Wei Liu; Fen Fen Xiong; Jin Huang

doi:10.4028/www.scientific.net/AMR.317-319.1512

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319Application of Fuzzy Adaptive Kalman Filtering on...

Application of Fuzzy Adaptive Kalman Filtering on GPS/INS Integrated Navigation System

Abstract:

A fuzzy adaptive Kalman filtering navigation algorithm is proposed and further applied to the GPS/INS integrated navigation system in this paper. The common Sage-Husa adaptive filtering algorithm and its drawbacks are elaborated. In order to adjust the Sage-Husa adaptive filter to the optimal state to improve the accuracy of the integrated navigation system, the fuzzy logic adaptive controller is used to adjust the weighting form for the covariance matrix of measurement noise to gradually make it approach to the true noise levels. Simulation results show that the proposed algorithm can not only inhibit the filtering divergence but also improve filtering accuracy.

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Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

1512-1517

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.1512

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Online since:

August 2011

Authors:

Ming Wei Liu, Fen Fen Xiong, Jin Huang

Keywords:

Fuzzy Logic Control, Integrated Navigation, Kalman Filter (KF), Sage-Husa

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