基于模糊控制的组合导航算法

文章提出一种根据信号残差（新息）对导航信息进行自适应噪声协方差调整的算法，由此得到导航参数的最优状态估计。其中重点研究了模糊控制对滤波器的动态调整，建立模糊滤波控制的模型，并与传统卡尔曼算法进行比较。仿真结果表明，基于模糊控制器的卡尔曼滤波器很好地限制了数据的发散，并在很大程度上提高了系统的稳定性。

Integrated Navigation Algorithm Based on Fuzzy Control

A new tuning algorithm was presented to adjust the covariance of noise-through the residual error （innovation） of signal, thus the best state estimation of navigation parameters is acquired. We research on dynamic adjustment of kalman filter that combined with fuzzy logic module. By constructing the model of fuzzy filtering, the simulation result indicates that the disperse of data usually seen in normal kalman filters was finely restricted by kalman filter with fuzzy logic controller. The precision of navigation is improved under this new algorithm.