GPS/SINS组合导航系统中模糊自适应卡尔曼滤波算法研究  

Research on GPS/SINS Integrated Navigation System Based on Fazzy Adaptive Kalman filter

作　　者：胡凡[1] 杨静竹[1] 陶启成[1] 吴修林[1] 

机构地区：[1]武汉大学电子信息学院,武汉430072

出　　处：《煤炭技术》2010年第8期142-144,共3页Coal Technology

摘　　要：针对卡尔曼滤波对噪声模型不能动态估计的缺点,引入了模糊卡尔曼滤波算法,通过滤波残差控制量测噪声协方差阵R的加权因子,为了更精确控制R矩阵的变化,使用了2个模糊控制器对速度位置分别进行控制,改善滤波性能,最后通过仿真验证了该算法较常规卡尔曼滤波算法有更好的性能。Since the Kalman filter can＇t modify the measurement noise ＂online＂,a new adaptive Kalman filter is presened based on fuzzy logic.The fuzzy Kalman filter control the measurement noise covariance matrix R according to the data residuals.To improve the accuracy,two fuzzy controllers are used to control velocity and position respectively in this paper.The computer simulation results indicate that the fuzzy Kalman filter algorithm has better performance than the regular Kalman filter algorithm.

关 键 词：组合导航 GPS/SINS 自适应滤波 模糊逻辑 

分 类 号：TN96[电子电信—信号与信息处理]