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Fuzzy Adaptive Interacting Multiple Model Nonlinear Filter for Integrated Navigation Sensor Fusion
National Applied Research Laboratories, National Center for High-Performance Computing, 22 Keyuan Rd., Central Taiwan Science Park, Taichung City 40763, Taiwan
Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, 2 Pei-Ning Rd., Keelung 202-24, Taiwan
* Author to whom correspondence should be addressed.
Received: 27 December 2010; in revised form: 22 January 2011 / Accepted: 10 February 2011 / Published: 11 February 2011
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.
Keywords: integrated navigation; unscented Kalman filter; interacting multiple model; fuzzy logic
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Cite This Article
MDPI and ACS Style
Tseng, C.-H.; Chang, C.-W.; Jwo, D.-J. Fuzzy Adaptive Interacting Multiple Model Nonlinear Filter for Integrated Navigation Sensor Fusion. Sensors 2011, 11, 2090-2111.
Tseng C-H, Chang C-W, Jwo D-J. Fuzzy Adaptive Interacting Multiple Model Nonlinear Filter for Integrated Navigation Sensor Fusion. Sensors. 2011; 11(2):2090-2111.
Tseng, Chien-Hao; Chang, Chih-Wen; Jwo, Dah-Jing. 2011. "Fuzzy Adaptive Interacting Multiple Model Nonlinear Filter for Integrated Navigation Sensor Fusion." Sensors 11, no. 2: 2090-2111.