Part of the book: Fuzzy Controllers
Part of the book: MATLAB
The chapter presents a new strategy to improve the precision of the inertial navigators processing in a fuzzy manner the signals provided by the miniaturized sensors equipping their inertial measurement units (IMU). To apply the developed technique, the hardware component of the inertial measurement units was specifically designed to include some redundant clusters of inertial sensors disposed in linear configurations on the measurement axes. The algorithm acts at the level of each detection cluster designed to measure an acceleration or angular speed along with an IMU axis by fusing the data obtained from the sensors in respective cluster. Based on the standard deviations of the sensors signals estimated for a data frame with a well-known size, the fuzzy logic mechanism provides a set of weights associated with each sensor in cluster, which are further used to fuse the data acquired from sensors at the current time. The algorithm has an adaptive character, the data frame used to estimate the standard deviations of the sensors signals being permanently updated with the new sensors measurements, and, in this way, the weights associated with each sensor are reestimated at each measurement step.
Part of the book: Modern Fuzzy Control Systems and Its Applications