A Kind of Fuzzy Adaptive Kalman Filter and Its Application on INS/Doppler Integrated Navigation

The fuzzy adaptive Kalman filter(FAKF) is studied in this paper,and is applied to INS/Doppler integrated navigation to improve the accuracy.The FAKF is presented that the Kalman filter is aided with the fuzzy control theory,and the measurement noise covariance matrix is adjusted according to the innovation.Therefore,the optimal estimation can be obtained.The offline simulation based on air-borne experiment shows that the FAKF can track the time-varying measurement noise,and the remain error of velocity error based on FAKF is 0.18m/s(0.05~0.1m/s) which is less than the precision of using standard Kalman filter in INS/Doppler integrated navigation.