一种模糊自适应INS/GPS组合导航方法

提出了一种基于模糊逻辑的自适应卡尔曼滤波新算法,即基于滤波数据残差构造一种模糊算法,以自适应控制卡尔曼滤波器的增益系数。从而可以消除异常的测量数据带来的影响,使滤波器的残差始终保持零均值,且使估计误差的协方差阵收敛,最终实现最优估计。通过对INS/GPS组合导航系统的计算机仿真结果表明,该算法具有比常规卡尔曼滤波算法更高的导航精度。

A fuzzy adaptive algorithm of the INS/GPS integrated navigation system

A new adaptive Kalman filter algorithm based on the fuzzy logic theory is provided,that is to construct a fuzzy algorithm according to the data covariance of the filter,so as to control the gain coefficient of the Kalman filter.By this means,it can eliminate the affection of the abnormal measure data,and to keep the covariance of the filter to be zero.Finally it can achieve the optimal estimate.The computer simulation results of the INS/GPS integrated navigation system indicate that,the algorithm has the better navigation accuracy than the regular Kalman filter algorithm.