基于INS/GPS组合导航的自适应模糊卡尔曼滤波  

Adaptive fuzzy Kalman filter based on INS/GPS integrated navigation system

作　　者：肖志涛[1] 赵培培[1] 李士心[2] 

机构地区：[1]天津工业大学信息与通信工程学院,天津300160 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2010年第2期195-198,203,共5页Journal of Chinese Inertial Technology

基　　金：天津市科委科技重点支撑项目资助(08ZCKFGX04000)

摘　　要：针对组合导航系统量测噪声统计特性随实际工作条件的不同而变化的特点,提出了一种基于模糊自适应卡尔曼滤波的INS/GPS组合导航算法。该方法通过监视理论残差和实际残差的协方差一致程度,应用模糊系统不断调整滤波器的增益系数,对卡尔曼滤波器进行在线自适应控制,最终实现最优估计。通过对INS/GPS组合导航系统的跑车试验,结果表明该方法在高噪声环境中具有良好的信息融合能力,能有效跟踪研究对象的状态变化。进一步表明该方法是有效、实用的。This paper presents a novel GPS/INS integrated navigation algorithm based on Fuzzy Adaptive Kalman Filtering. The method is mainly used in GPS/INS integrated navigation system to deal with time varied statistic of measurement noise in different working conditions. By monitoring the covariance between abstract residual and actual residual, the algorithm recursively modifies the gain coefficients of the filter so as to adaptively control the Kalman filter, and finally the optimal estimation is achieved. The experimentation results of the INS/GPS integrated navigation system indicate that the algorithm is effective and practical.

关 键 词：模糊逻辑 组合导航 自适应卡尔曼滤波:隶属度函数 

分 类 号：U666.1[交通运输工程—船舶及航道工程]