模糊自适应Kalman滤波在INS/GPS组合导航系统中的应用

Fuzzy Adaptive Kalman Filtering in INS/GPS Integrated Navigation System

针对INS/GPS组合导航系统中因量测噪声的复杂多变造成的发散问题,引入了一种基于新息方差匹配技术的自适应模糊控制Kalman滤波算法,通过模糊控制器在线调整量测噪声方差,抑制滤波器发散,从而提高导航系统的精度。仿真结果表明该算法具有比常规Kalman滤波更高的精度。

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.