Tham khảo tài liệu 'sensor fusion and its applications part 4', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 84 Sensor Fusion and Its Applications Corrected output x Fig. 10. GPS INS navigation processing using the IAE AFKF Hybrid AKF for the illustrative example 2 Fig. 11. Trajectory for the simulated vehicle solid and the INS derived position dashed Adaptive Kalman Filter for Navigation Sensor Fusion 85 Fig. 12. The solution from the integrated navigation system without adaptation as compared to the GPS navigation solutions by the LS approach Fig. 13. The solutions for the integrated navigation system with and without adaptation In the real world the measurement will normally be changing in addition to the change of process noise or dynamic such as maneuvering. In such case both P-adaptation and R-adaptation tasks need to be implemented. In the following discussion results will be provided for the case when measurement noise strength is changing in addition to .
