شماره ركورد كنفرانس :
3208
عنوان مقاله :
Neuro-Fuzzy Adaptive Kalman Filtering for INS/GPS Integration
پديدآورندگان :
Abdoli, A Department of Electrical Engineering - Amirkabir University of Technology , Suratgar, A.A Department of Electrical Engineering - Amirkabir University of Technology , Menhaj, M.B Department of Electrical Engineering - Amirkabir University of Technology , Taghavi, S.H Department of Electrical Engineering - Shahid Rajaee University
كليدواژه :
INS/GPS integration , adaptive Kalman filtering , ANFIS
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
Adaptive Kalman filtering is widely used in data fusion and integration. This paper highlights the use of fuzzy inference system in INS/GPS integration for adaptation of the measurement noise covariance matrix, while the process covariance matrix is known. Selection of initial measurement noise covariance matrix, training process and an innovative adaption approach are investigated. A strapdown INS equipped with high quality inertial sensors and an accurate GPS receiver is evaluated in several tests, and the results confirm that tuning the measurement noise covariance matrix in neuro-fuzzy adaptive Kalman filtering approach outperforms the conventional Kalman filter in INS/GPS integration.
