模糊Kalman滤波在组合导航系统中的应用

Fuzzy Kalman Filtering for SINS/GPS Integrated Navigation System

针对SINS/GPS组合导航系统,设计了模糊自适应Kalman滤波算法。该算法基于新息协方差匹配技术,能够在导航过程中根据量测噪声变化而自适应改变Kalman滤波器参数。在GPS量测精度短时变差、Kalman滤波器参数和噪声不匹配两种情况下仿真,结果表明模糊Kalman滤波算法具有较好的自适应性。

This paper developed a new fuzzy adaptive Kalman filter(FAKF) for SINS/GPS integrated navigation system.The filtering method is based on covariance-matching techniques.A Kalman filter(KF) with fuzzy adaptive algorithm can change its parameters according to the measure noise adaptively.Simulations were made on the assumption that GPS signals were lost for a short time and the parameters of KF did not match measure noises.And the simulation results indicate that the fuzzy Kalman filtering is an effective adaptive filtering method for unknown measure noise.