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Fuzzy logic controller based Adaptive Kalman filter for a marine integrated navigation system

机译：基于模糊逻辑控制器的舰船组合导航自适应卡尔曼滤波器。

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A novel marine INS/GPS navigation system using fuzzy logic controller (FLC) based innovation adaptive estimation adaptive Kalman filter (IAE-AKF) is presented in this paper. GPS with two antennae providing vessel altitude is selected to fuse with INS to improve the performance of the hybrid system. GPS receiver will be disturbed easily in real application, which will lead to performance degradation of the Kalman filter. Different from the conventional FLC-based methods, the modified adaptive Kalman filter uses two FLCs to adjust both the system integrated modes and the calculation of Kalman gain based on the internal states of Kalman filter, GPS working status and the vehicle kinetic states. The designed adaptive Kalman filter thus can select appropriate fuse mode, adjust the noise intensity in the filter and prevent it from divergence, accordingly enhance the overall performance of the marine integrated navigation system. Real test data from the INS and GPS determination system verified the effectiveness of the proposed FLC-based adaptive Kalman filter.
机译：提出了一种基于模糊逻辑控制器（FLC）的创新自适应估计自适应卡尔曼滤波器（IAE-AKF）的新型海上INS / GPS导航系统。选择具有两个天线以提供船只高度的GPS与INS融合，以改善混合动力系统的性能。在实际应用中，GPS接收器很容易受到干扰，这将导致卡尔曼滤波器的性能下降。与传统的基于FLC的方法不同，改进的自适应Kalman滤波器使用两个FLC来调整系统集成模式和基于Kalman滤波器的内部状态，GPS工作状态和车辆动力学状态来计算Kalman增益。因此，设计的自适应卡尔曼滤波器可以选择合适的保险丝模式，调节滤波器中的噪声强度并防止其发散，从而提高船用集成导航系统的整体性能。来自INS和GPS确定系统的真实测试数据验证了所提出的基于FLC的自适应卡尔曼滤波器的有效性。

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