A Novel Data Fusion Approach in an Integrated GPS/INS System Using Adaptive Fuzzy Particle Filter

In this paper we propose a new data fusion method based on particle filtering and fuzzy logic in order to adaptively integrate global positioning system and strapdown inertial navigation system (GPS/SDINS). This approach will reduce the dependence of the stable solution on stochastic properties of the system which is a function of vehicle dynamics and environmental conditions So the proposed scheme will enhance the estimation performance in comparison with generic particle filter specially in the case of facing modeling uncertainty. It will also give us more reliable solution when encountering satellite signal blockage as a probable problem in land navigation. The results have clearly demonstrated that the hybrid fuzzy particle filter would improve the guidance from the point of accuracy and robustness to the mentioned problems. Index Terms – Adaptive Particle Filter, Data Fusion, Fuzzy Logic, GPS/INS.