Research on fuzzy robust adaptive unscented particle filtering

This paper present a new fuzzy robust adaptive Unscented particle filtering method based on the fuzzy control theory. This method absorbs the advantages of the fuzzy control theory, the robust adaptive filtering and the Unscented particle filtering. Using the influence of the gross errors in the observation vectors on the state vector parameters to obtain the robust adaptive Unscented particle filtering model. Experiment results and comparison analysis demonstrate that this proposed methodology provides an effective solution for improving the positioning accuracy in navigation system.