Research on Integrated Navigation Technology of Field Robot
Zhu Feng-chun, Yanbing Ju, Aihua Wang · 2006
This paper introduced GPS/INS integrated navigation technology into field robot navigation system, and mainly discussed the data fusion algorithm based on fuzzy adaptive Kalman filter. For the reason that classical Kalman filter might lead to divergence of system state parameter estimation when it dealt with time varied statistic of measurement noise in different working conditions, then by monitoring the variation grade of the actual residual compared with filter residual, the novel algorithm could adjust recursively the measurement noise covariance of Kalman filter online to make it close to real measurement covariance gradually. As a result, the Kalman filter performs optimally and the accuracy of the navigation system is improved. The simulation result also proves that this fuzzy adaptive Kalman filter works better than the conventional filtering algorithm