摘要
总结了常用的自适应滤波的方法,并提出了一种基于模糊逻辑的自适应卡尔曼滤波技术,用模糊逻辑自适应推理器来“在线”修正卡尔曼滤波系统噪声协方差Q和测量噪声协方差R,从而使滤波器不断执行最优估计。仿真结果表明该方法可以提高GPS/INS组合导航系统的精度和可靠性。
In this paper,a newly developed adaptive fuzzy Kalman filter algorithm is analyzed,and proposed to replace the conventional Kalman filtering approach for the Inertial Navigation System（INS）/Global Positioning System（GPS） integrated system.The system noise covariance matrix （Q） and the measurement noise covariance matrix （R） are modified ＂online＂ by the fuzzy logic controller to improve the positioning accuracy of the integrated navigation system.Simulation results show that the proposed algorithm can improve the performance（accuracy and reliability） of the integrated GPS/INS system filtering process.
出处
《计算机工程与应用》
CSCD
北大核心
2007年第7期240-242,245,共4页
Computer Engineering and Applications
基金
航空科学基金(No.03E51002)
