A fuzzy adaptive GPS/INS integrated navigation algorithm

The statistical properties of the measurement noise of the missile-borne navigation system would vary under different actual working conditions. To address this issue, a fuzzy logic adaptive Kalman filtering based missile-borne GPS/INS integrated navigation algorithm is proposed in this paper. By monitoring the output parameter PDOP of the GPS receiver, the fuzzy logic adaptive controller is utilized to modify the measurement noise variance of the Kalman filter. Thus the Kalman filter can be adjusted to the optimal state, which eventually improves the accuracy of the integrated navigation system. The simulation results show that the proposed algorithm has strong adaptability to the time-varying measurement noise, and outperforms the conventional Kalman filter algorithm by providing more accurate solutions.