A fuzzy adaptive algorithm of the INS/GPS integrated navigation system

A new adaptive Kalman filter algorithm based on the fuzzy logic theory is provided,that is to construct a fuzzy algorithm according to the data covariance of the filter,so as to control the gain coefficient of the Kalman filter.By this means,it can eliminate the affection of the abnormal measure data,and to keep the covariance of the filter to be zero.Finally it can achieve the optimal estimate.The computer simulation results of the INS/GPS integrated navigation system indicate that,the algorithm has the better navigation accuracy than the regular Kalman filter algorithm.