Reinforced Ultra-Tightly Coupled GPS/INS System for Challenging Environment

Table 3

MFs based on empirical and optimized parameters.

I/O	Type	Membership functions
Input		Negative (NT)	Zero (ZR)	Positive (PT)
	Empirical
	Optimized
Output		Decrease (DC)	Maintain (MT)	Increase (IC)
	Empirical
	Optimized