Application of adaptive Kalman filter based on contextual information to integrated GPS/IMU navigation
基于环境信息的自适应卡尔曼滤波器在GPS/IMU组合导航中的应用*

This paper presented an adaptive data fusion method which used a fuzzy logic controller based on contextual information to on-line adjust the federated Kalman filter, and focused on its application to the integrated GPS/IMU navigation. Used the fuzzy logic controller to compute the information distribution coefficients according to the contextual information which came from the innovation sequences of each subsystem and optimally adjusted the Kalman filter. Then enhanced the accuracy of integrated navigation system. Simulation results show that both the precision and fault tolerance of data fusion are improved.