Study on Information Fusion Technology in GPS/INS Integrated Navigation System
Pingyuan Cui · Jisuanji fangzhen · 2004
Based on the GPS/INS integrated navigation system, the paper gives a detailed introduction to how to build model for system. In order to resolve the problem with the applied traditional Kalman filter which can not deal well with the time-varying noise model and so can't give the best estimation, a fuzzy adaptive filter is introduced. It can correct the covariance of residuals on line, thus improving the performance of the regular Kalman filter and enhancing the positioning accuracy of the integrated navigation system. A new way is also presented in order to detect the outliers and handle them well. At last the simulation results proved the validity of the new method.