| 模糊自适应卡尔曼滤波技术研究 |
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| 引用本文： | 柏菁,刘建业,袁信. 模糊自适应卡尔曼滤波技术研究[J]. 航天控制, 2002, 20(1): 18-23 |
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| 作者姓名： | 柏菁 刘建业 袁信 |
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| 作者单位： | 南京航空航天大学自动化学院,南京,210016;南京航空航天大学自动化学院,南京,210016;南京航空航天大学自动化学院,南京,210016 |
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| 摘 要： | 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。
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| 关 键 词： | 卡尔曼滤波 导航 组合式导航 |
| 修稿时间： | 2001-09-11 |
Study of Fuzzy Adaptive Kalman Filtering Technique |
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| Bai Jing Liu Jianye Yuan XinCbllege cf Autcmation Engineering,Nanjing University ofAeronautics & Astronautics,Nanjing. Study of Fuzzy Adaptive Kalman Filtering Technique[J]. Aerospace Control, 2002, 20(1): 18-23 |
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| Authors: | Bai Jing Liu Jianye Yuan XinCbllege cf Autcmation Engineering Nanjing University ofAeronautics & Astronautics Nanjing |
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| Affiliation: | Bai Jing Liu Jianye Yuan XinCbllege cf Autcmation Engineering,Nanjing University ofAeronautics & Astronautics,Nanjing 210016 |
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| Abstract: | This paper presents a novel method for combined navigation based on Fuzzy Adaptive Kabnan Filtering. This method is mainly applied for autonomous mobile vehicles. The noise' couariance of Kabnan Filtering is modified online by the Fusty Logic Adaptive Controller in order to module Kabnan Filtering to be optimal and to improve the positioning accuracy of the combined navigation system. By simulation in the GPS/INS, it is proved that the Fuzzy Adaptive Kabnan Filtering has better accuracy than regular Kabnan Filtering. The study of this method is of great significance to guidance and navigation of vehicles. |
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| Keywords: | Kalman filtering Navigation Combined navigation |
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