Research of Fuzzy Adaptive Kalman Filtering Based on Integrated Navigation System of GPS/INS
Yu Duan · Journal of Transcluction Technology · 2003
This paper presents a method of fuzzy logic adaptive controller adjusting extended KALMAN filter based on the information fusion for GPS/INS. The FLAC monitor if the residual is zero-mean white noise and adjust the exponential weighting of filter, then the filter perform optimally. The extended KALMAN filter (EKF) is modified using the fuzzy logic Adaptive system, and compared with the performance of a regular EKF. It is demonstrated that the Fuzzy Adaptive KALMAN Filter gives better result than the EKF.