基于模糊控制的舰船组合导航Kalman滤波器

经典的舰船组合导航Kalman滤波器对异常量测值处理过于简单 (只分为野值、正常值 ) ,致使包含新息的略大于正常值的量测数据失去作用 ,从而使滤波器产生波动。为克服这一弊端 ,提出在滤波器中加入模糊控制器 ,模糊规则由专家确定 ,对不同类型的滤波新息进行判别后加权处理 ,从而增强滤波器对野值的适应能力。计算机仿真结果表明 ,模糊控制器的加入可以提高滤波器工作的稳定性和可靠性

Vessel Composite Navigation Kalman Filter Based on Fuzzy Control

Since the classical vessel Kalman filter treats the measured data in a simple manner (only outlier and normal data), some measured data will lose its effect on the filter even though it is just a little higher than the normal one, which in turn causes the instability of the filter. In order to overcome this disadvantage, a fuzzy controller whose function is to discriminate different innovations and then offer a suitable weight is added to the Kalman filter in this paper. The fuzzy rules of the controller are decided by the experts knowledge. This method can enhance the filter's adaptability to the outliers. Computer simulatins show that the fuzzy controller adopted can improve the filter's stability and reliability greatly.