Research Article
Reinforced Ultra-Tightly Coupled GPS/INS System for Challenging Environment
Figure 6
Comparative results for neutral-network-based fuzzy adaptive IKF.
(a) Parameters optimization results |
(b) MFs based on optimized and empirical parameters |
(c) Performance of FLACs and standard IKFs |
(d) Velocity error comparisons (0–60 s) |