| 模糊自适应滤波在车载组合导航系统中的应用 |
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| 引用本文： | 高薪,卞鸿巍,张和杰.模糊自适应滤波在车载组合导航系统中的应用[J].舰船电子工程,2009,29(11):70-72,167. |
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| 作者姓名： | 高薪 卞鸿巍 张和杰 |
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| 作者单位： | 1. 海军工程大学电气与信息工程学院,武汉,430033
2. 海军装备部舰船技术保障部,北京,100841 |
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| 摘 要： | 文章针对车载GPS/DR组合导航系统工作环境复杂,其观测噪声相应复杂多变的特点,引入了一种基于模糊自适应控制的卡尔曼滤波算法。这一方法基于方差匹配的思想,通过模糊控制器在线调整观测噪声方差,以改变滤波器的自适应性,从而提高导航精度。文章最后对GPS/DR系统进行了仿真,结果表明采用此方法后的滤波精度优于常规Kal-man滤波的结果。
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| 关 键 词： | 扩展卡尔曼滤波 新息 模糊自适应控制器 组合导航 |
Fuzzy Adaptive Kalman Filtering Technique and its Application to Integrated Navigation System of Vessel |
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| Gao Xin,Bian Hongwei,Zhang Hejie.Fuzzy Adaptive Kalman Filtering Technique and its Application to Integrated Navigation System of Vessel[J].Ship Electronic Engineering,2009,29(11):70-72,167. |
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| Authors: | Gao Xin Bian Hongwei Zhang Hejie |
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| Institution: | Gao Xin, Bian Hongwei, Zhang Hejie (1Electronic and Info. Engineering Colloge, Naval University of Engineering , Wuhan 430033;2Ship Technology Service Office, Department of Naval Equipment , Beijing 100841) |
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| Abstract: | The states of the GPS/DR integrated navigation system may change when the essels move,which will bring the measurement noise to drastic changes.Aimed at this problem,an adapt-ive Kalman filter is presented based on fuzzy controller.Based on the principle of ＂covariance mat-ching＂,this method modifies the measurement noise covariance of Kalman Filtering ＂online＂ by the Fuzzy Logic Controller in order to modulate Kalman Fitering to be optimal and to improve the posi-tioning accuracy of the integrated navigation system. The simulation results show that this methed has better accuracy than the regular Kalman Filtering. |
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| Keywords: | extend Kalman filter（EKF） residuals fuzzy logic adaptive controller（FLAC） integrated navigation |
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