Application of Adaptive Fuzzy Particle Filter in an Integrated GPS/INS System
Deng Fang-lin · Jisuanji fangzhen · 2008
Because the kalman filter cannot solve the nonlinear problem of integrated navigation,this paper proposes a method based on particle filtering and fuzzy logic in order to adaptively integrate GPS with INS.This approach will reduce the dependence of the stable solution on stochastic properties of the system which is a function of vehicle dynamics and environmental conditions so the proposed scheme will enhance the estimation performance in comparison with generic particle filter specially in the case of facing modeling uncertainty.It will also give us more reliable solution when encountering satellite signal blockage as a probable problem in land navigation.The results have clearly demonstrated that the fuzzy particle filter would improve the accuracy and robustness.