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中文摘要：
在组合系统运用Kalman滤波器技术时，准确的系统模型和可靠的观测数据是保证其性能的重要因素，否则将大大降低Kalman滤波器的估计精度，甚至导致滤波器发散。为解决上述Kalman应用中的实际问题，提出了一种新颖的基于进化人工神经网络技术的自适应Kalman滤波器。仿真试验表明该算法可以在系统模型不准确时、甚至外部观测数据短暂中断时，仍能保证Kalman滤波器的性能。
英文摘要：
The performance of Kalman filter in integrated navigation system depends on accurate system model and reliable observation data. Inaccurate system model or trustless observation data will cause low precision of Kalman filter, and even lead filter to divergence. So a new adaptive Kalman filter based on evolutionary artificial neural networks is used in this system. The algorithm is tested by simulations, and the results indicate that the proposed algorithm can efficiently overcome the shortcomings of traditional Kalman filter with better accuracy.
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