An Adaptive Fuzzy Logic Quaternion Scaled Unscented Kalman Filtering for Inertial Navigation System, GPS and Magnetometer Sensors Integration

Provided by: Science Publishing Group
Topic: Hardware
Format: PDF
In this paper, the authors present a technique based on fuzzy logic to improve the performance of the inertial navigation system integrated with GPS, and magnetometer. The proposed fuzzy technique is primarily used to predict position and velocity measurements during GPS outage signals. As long as the GPS measurements are available, the Q-SUKF of INS/GPS/MAG (MAG: MAGnetometer) integrated system operates efficiently and provides precise navigation states estimation. Nevertheless, during GPS outage signals, the proposed fuzzy technique is adapted to the Q-SUKF to obtain the FL QSUKF (adaptive Fuzzy Logic Quaternion Scaled Unscented Kalman Filter) in order to correct the degradation of the performance of the algorithm.

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