Title :
Adaptive Avoiding Divergence Algorithm for GPS/DR Integration Based on Fuzzy Logic
Author :
Zheng, Guixing ; Zhao, Rui ; Guo, Qiang ; Liu, Luyuan ; Bai, Lina ; Du, Lei
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing
Abstract :
In order to solve the divergence which is likely to emergence in Kalman filter applied in GPS/DR vehicle integration, the adaptive algorithm based on fuzzy logic to avoid filter divergence is designed which rely on the convergence criterion of Kalman filter, and simulation experimentations are carried through. The Matlab simulations manifested that the location precision and the tracking capability are improved by the algorithm and the divergence is prevented
Keywords :
Global Positioning System; Kalman filters; adaptive control; fuzzy control; road vehicles; GPS-dead reckoning vehicle integration; Kalman filter; Matlab simulation; adaptive avoiding divergence algorithm; fuzzy logic; Adaptive algorithm; Convergence; Covariance matrix; Design automation; Filters; Fuzzy logic; Global Positioning System; Mathematical model; Technological innovation; Vehicles; Avoiding divergence; Fuzzy; GPS/DR; Kalman;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713675
