Federated filtering algorithm based on fuzzy adaptive UKF for marine SINS/GPS/DVL integrated system

摘要：

For marine SINS/GPS/DVL integrated navigation system, a new federated filtering algorithm based on fuzzy adaptive unscented Kalman filter is presented in order to satisfy the precision and fault-tolerance demands. The algorithm uses unscented Kalman filter (UKF) to estimate the nonlinear system states, as well as using fuzzy inference system (FIS) to amend measurement noise adaptively. The simulation in marine SINS/GPS/DVL integrated system illustrated that, compared with the traditional federated Kalman filtering algorithm, the algorithm in this paper can improve the navigation precision and fault-tolerant capability effectively, the velocity-error decreased from 0.14m/s to 0.06m/s.

关键词： Integrated navigation Federated filter Unscented Kalman filter Fuzzy inference system

作者: Benchuan Zhou Xianghong Cheng

作者单位: School of Instrument Science & Engineering, Southeast University, Nanjing 210096, China

会议类型: 国际会议

会议名称: The 22nd China Control and Decision Conference(2010年中国控制与决策会议)

会议地点: 徐州

会议语种:英文

页码: 2082-2085

在线出版日期: 2010-05-26（万方平台首次上网日期，不代表论文的发表时间）