模糊逻辑自适应卡尔曼滤波技术在GPS/INS组合导航系统中的仿真研究

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

提出利用模糊逻辑自适应控制器 (FLAC)调整扩展卡尔曼滤波器 (KALMAN)的方法 ,该方法应用于GPS/INS信息融合。FLAC通过监视残差是否为零均值白噪音 ,然后根据模糊规则调整滤波器的指数加权 ,从而使滤波器不断执行最优估计。通过仿真与常规扩展卡尔曼滤波器相比较 ,其性能优于常规扩展卡尔曼滤波器。

This paper presents a method of fuzzy logic adaptive controller adjusting extended KALMAN filter based on the information fusion for GPS/INS. The FLAC monitor if the residual is zero-mean white noise and adjust the exponential weighting of filter, then the filter perform optimally. The extended KALMAN filter (EKF) is modified using the fuzzy logic Adaptive system, and compared with the performance of a regular EKF. It is demonstrated that the Fuzzy Adaptive KALMAN Filter gives better result than the EKF.