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A solution of UAV localization problem using an interacting multiple nonlinear fuzzy adaptive H∞ models filter algorithm
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DOI：10.1016/j.cja.2019.02.004.png)
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摘要
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The purpose of this research is to improve the robustness of the autonomous system in order to improve the position and velocity estimation of an Unmanned Aerial Vehicle (UAV). Therefore, new integrated SINS/GPS navigation scheme based on Interacting Multiple Nonlinear Fuzzy Adaptive H-infinity Models (IMM-NFAH(infinity)) filtering technique for UAV is presented. The proposed IMM-NFAH(infinity) strategy switches between two different Nonlinear Fuzzy Adaptive H-infinity (NFAH(infinity)) filters and each NFAH(infinity )filter is based on different fuzzy logic inference systems. The newly proposed technique takes into consideration the high order Taylor series terms and adapts the nonlinear H oc filter based on different fuzzy inference systems via adaptive filter bounds (delta(i)), along with disturbance attenuation parameter gamma. Simulation analysis validates the performance of the proposed algorithm, and the comparison with nonlinear H-infinity (NH infinity) filter and that with different NFAH(infinity) filters demonstrate the effectiveness of UAV localization utilizing IMM-NFAH(infinity) filter. (C) 2019 Chinese Society of Aeronautics and Astronautics. Production and hosting by Elsevier Ltd.
Keyword:
Interacting multiple models
Integrated navigation system
Multi-mode estimation
Nonlinear fuzzy adaptive filter
Sensor data fusion
UAV localization
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