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Adaptive Avoiding Divergence Algorithm for GPS/DR Integration Based on Fuzzy Logic

In order to solve the divergence which is likely to emergence in Kalman filter applied in GPS/DR vehicle integration, the adaptive algorithm based on fuzzy logic to avoid filter divergence is designed which rely on the convergence criterion of Kalman filter, and simulation experimentations are carried through. The Matlab simulations manifested that the location precision and the tracking capability are improved by the algorithm and the divergence is prevented