Application of Adaptive Strong Tracking Kalman Filter Based on Fuzzy Logic to GPS Positioning
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摘要: 当载体速度频繁发生突变时,针对卡尔曼滤波在GPS定位解算中对系统模型依赖性强、鲁棒性差的问题,提出了一种基于模糊逻辑的自适应强跟踪卡尔曼滤波算法。该算法主要利用模糊逻辑自适应控制器监测系统输出的残差均值,并根据模糊规则动态调整弱化因子,从而对强跟踪滤波器中次优渐消因子进行自适应调整,来实现抑制载体突变影响。仿真结果表明,该算法在载体突变的跟踪精度高于扩展卡尔曼滤波和强跟踪卡尔曼滤,其稳定性也有所提高。
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关键词:
- GPS /
- 模糊逻辑自适应控制器 /
- 强跟踪滤波器 /
- 卡尔曼滤波器
Abstract: When the velocity of carrier frequently was mutated, Kalman filter have strong dependence of system model and poor robustness in GPS positioning computation. A new improved strong tracking Kalman filter based on fuzzy logic adaptive controller is presented. By monitoring the residual mean, the fuzzy logic adaptive controller of this method dynamically adjusts the softening factor according to fuzzy rules. For this reason, this method modifies the fading adaptively and achieve the inhibition of carrier mutation. The results of simulation indicate that this new approach has a better accuracy than the extended Kalman filter and strong tracking Kalman filter in the field of maneuvering target tracking in carrier mutation, its stability are also improved.-
Key words:
- GPS /
- fuzzy logic adaptive controller /
- strong tracking filter /
- Kalman filter
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