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基于权值矩阵的模糊自适应卡尔曼滤波在组合导航中的应用 总被引:1,自引:1,他引:0
针对自主驾驶车辆长时间导航精度要求难以满足的问题,建立了GPS与微惯性导航系统的组合导航滤波模型,在位置观测的同时引入姿态信息,提高了导航精度。在此基础上提出了基于权值矩阵的模糊自适应卡尔曼滤波算法,该算法通过模糊控制器自适应地改变每个观测量的权值,得到权值矩阵引入卡尔曼滤波器实现自适应滤波。仿真和实验结果表明,所提出的权值矩阵模糊卡尔曼滤波性能优于衰减因子自适应卡尔曼滤波,特别是在GPS信号失真及噪声先验统计特性不可知的情况下,其定位精度能够保证在1m之内。 相似文献
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设计一种新型混合模糊神经推理系统,该系统仅从期望输入输出数据集即可达到获取知识、确定模糊初始规则基的目的.再利用神经网络学习能力便不难修改规则库中的模糊规则以及隶属函数和网络权值等参数,这样大大减少了规则匹配过程,加快了推理速度,从而极大程度地提高了系统的自适应能力.用它对Mackey-Glass混沌时间序列进行预测试验,结果表明利用该网络模型无论离线还是在线学习均能对Mackey-Glass混沌时间序列进行准确的预测,证明了该系统的有效性.
关键词:
神经网络模型
模糊逻辑
混合推理系统
混沌时间序列 相似文献
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Generalized unscented Kalman filtering based radial basis function neural network for the prediction of ground radioactivity time series with missing data 下载免费PDF全文
On the assumption that random interruptions in the observation process are modeled by a sequence of independent Bernoulli random variables, we firstly generalize two kinds of nonlinear filtering methods with random interruption failures in the observation based on the extended Kalman filtering (EKF) and the unscented Kalman filtering (UKF), which were shortened as GEKF and GUKF in this paper, respectively. Then the nonlinear filtering model is established by using the radial basis function neural network (RBFNN) prototypes and the network weights as state equation and the output of RBFNN to present the observation equation. Finally, we take the filtering problem under missing observed data as a special case of nonlinear filtering with random intermittent failures by setting each missing data to be zero without needing to pre-estimate the missing data, and use the GEKF-based RBFNN and the GUKF-based RBFNN to predict the ground radioactivity time series with missing data. Experimental results demonstrate that the prediction results of GUKF-based RBFNN accord well with the real ground radioactivity time series while the prediction results of GEKF-based RBFNN are divergent. 相似文献
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A novel adaptive control for uncertain nonlinear chaotic system is presented. A dynamical neural networks is used to perform ‘black box' identification. Based on the identifier, the state feedback control is employed to drive the unknown chaotic system toward the desired target. Simulations show the derived control via the neuro-identifier turns out to be very effective. 相似文献
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This paper studies the robust fuzzy control for nonlinear chaotic system in the
presence of parametric uncertainties. An uncertain Takagi--Sugeno (T--S) fuzzy model
is employed for fuzzy modelling of an unknown chaotic system. A sufficient condition
formulated in terms of linear matrix inequality (LMI) for the existence of fuzzy
controller is obtained. Then the output feedback fuzzy-model-based regulator derived
from the LMI solutions can guarantee the stability of the closed-loop overall fuzzy
system. The T--S fuzzy model ofthe chaotic Chen system is developed as an example
for illustration. The effectiveness of the proposed controller design methodology is
finally demonstrated through computer simulations on the uncertain Chen chaotic
system. 相似文献
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