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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40784

Title: Fuzzy Adaptive Interacting Multiple Model Nonlinear Filter for Integrated Navigation Sensor Fusion
Authors: Chien-Hao Tseng
Chih-Wen Chang
Dah-Jing Jwo
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 2011
Issue Date: 2017-02-06T08:34:06Z
Publisher: Sensors
Abstract: Abstract: In this paper, the application of the fuzzy interacting multiple model unscented Kalman filter (FUZZY-IMMUKF) approach to integrated navigation processing for the maneuvering vehicle is presented. The unscented Kalman filter (UKF) employs a set of sigma points through deterministic sampling, such that a linearization process is not necessary, and therefore the errors caused by linearization as in the traditional extended Kalman filter (EKF) can be avoided. The nonlinear filters naturally suffer, to some extent, the same problem as the EKF for which the uncertainty of the process noise and measurement noise will degrade the performance. As a structural adaptation (model switching) mechanism, the interacting multiple model (IMM), which describes a set of switching models, can be utilized for determining the adequate value of process noise covariance. The fuzzy logic adaptive system (FLAS) is employed to determine the lower and upper bounds of the system noise through the fuzzy inference system (FIS). The resulting sensor fusion strategy can efficiently deal with the nonlinear problem for the vehicle navigation. The proposed FUZZY-IMMUKF algorithm shows remarkable improvement in the navigation estimation accuracy as compared to the relatively conventional approaches such as the UKF and IMMUKF.
Relation: 11(2)
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40784
Appears in Collections:[通訊與導航工程學系] 演講及研討會

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