Research on Fuzzy Kalman Filtering Algorithm in Integrated INS/GPS Navigation System
Jianjun Zhu · Journal of Projectiles.Rockets.Missiles and Guidance · 2007
The characteristics of the varied statistic of measurement noise is not obtained easily and accurately under the circumstance that the carrier is maneuvering,and much random non-Gauss noise could be produced in the system.If only the normal Kalman filtering algorithm is applied in the integrated navigation system,it has a disadvantage of not getting the optimum values, especially results in non-convergence values.In this paper,a fuzzy inference system(FIS) combined with the Kalman filtering algorithm is presented.It can efficiently adjust the covariance matrix of system measurement noise online.Simulations show this filtering algorithm can get a better result in system states optimization estimation.Simultaneously it has a superiority of adapting system noise variation and may greatly improve the precision of the navigation system.