摘要
本文提出了一种基于模糊自适应卡尔曼滤波技术的组合导航的新方法 .这一方法主要应用于自主式机动飞行器 .用模糊逻辑自适应控制器对卡尔曼滤波器的噪声方差进行“在线”修正 ,将卡尔曼滤波器调整到最优状态 ,从而提高组合导航系统的精度 .通过对 GPS/ INS组合导航系统的仿真 ,验证了模糊自适应卡尔曼滤波器比常规卡尔曼滤波器具有更高的精度 .该方法的研究对飞行器的导航与制导具有重要意义 .
This paper presents a novel method for integrated navigation based on Fuzzy Adaptive Kalman Filtering. This method is mainly used for autonomous mobile vehicles. The noise covariance of Kalman Filtering is modified 'online' by the Fuzzy Logic Adaptive Controller in order to modulate Kalman Filtering to be optimal and to improve the positioning accuracy of the integrated navigation system. By simulation in the GPS/INS, it is proved that the Fuzzy Adaptive Kalman Filtering has better accuracy than the regular Kalman Filtering. The study of this method is of great significance to guidance and navigation of vehicles.
出处
《信息与控制》
CSCD
北大核心
2002年第3期193-197,共5页
Information and Control
关键词
卡尔曼滤波
模糊逻辑自适应控制器
残差
组合导航系统
Kalman Filtering (KF), fuzzy logic adaptive controller(FLAC), residuals, navigation, integrated navigation
