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Sensor fusion based on fuzzy Kalman filter

We present a fuzzy Kalman filter, which is based on fuzzy logic theory and a Kalman filter. It is similar to a Kalman filter when a linear system with Gaussian noise is considered. However, when non-Gaussian noise is introduced, it is shown that the fuzzy Kalman filter outperforms the Kalman filter and the Kalman filter does not work well. We demonstrate the performances of the Kalman filter and the fuzzy Kalman filter for a position estimation application under different circumstances. Comparisons are made to draw conclusions.