Analysis on fuzzy adaptive Kalman filter in integrated navigation

This paper,which bases on GPS/SINS integrated navigation,analysis the theory of Kalman filtering and concludes its shortcomings.It brings forward the method to control the related matrix about system model and noise model.This method uses fuzzy neural network and it adjusts the adaptive gene directly according to the variety and variance of new-information,and at them same time,it adjusts the proportion to use current observation and last message indirectly.Simulation results indicates that the adaptive Kalman filtering algorithm bases on fuzzy controller can adapt to the disturb of system and noise model,restrain filtering failure,improve the system robustness.