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The adaptation process is performed on the filter statistical information matrices R or Q, which are tuned using an Adaptive Neuro Fuzzy Inference System (ANFIS) based on the filter innovation sequence through a covariance-matching technique. The test results show a better performance of the KF-NFA when it is compared with a traditional Kalman Filter (T-KF). This work is being developed in the context of a Pedestrian Dead Reckoning (PDR) algorithm for localization based services (LBS), currently in progress.<\/jats:p>","DOI":"10.3233\/ifs-141183","type":"journal-article","created":{"date-parts":[[2015,10,6]],"date-time":"2015-10-06T12:03:16Z","timestamp":1444132996000},"page":"479-488","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Attitude estimation using a Neuro-Fuzzy tuning based adaptive Kalman filter"],"prefix":"10.1177","volume":"29","author":[{"given":"Mariana N.","family":"Ibarra-Bonilla","sequence":"first","affiliation":[{"name":"Instituto Nacional de Astrof\u00edsica, \u00d3ptica y Electr\u00f3nica, Departamento de Electr\u00f3nica, Puebla, M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. Jorge","family":"Escamilla-Ambrosio","sequence":"additional","affiliation":[{"name":"Instituto Polit\u00e9cnico Nacional, Centro de\rInvestigaci\u00f3n en Computaci\u00f3n (CIC), M\u00e9xico, D.F., M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan Manuel","family":"Ramirez-Cortes","sequence":"additional","affiliation":[{"name":"Instituto Nacional de Astrof\u00edsica, \u00d3ptica y Electr\u00f3nica, Departamento de Electr\u00f3nica, Puebla, M\u00e9xico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,10,5]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"GartnerGOrtagF2012Advances in Location-based Services Lecture Notes in Geoinformation and CartographyBerlin HeidelbergSpringer-Verlag"},{"key":"e_1_3_1_3_2","unstructured":"ChowdharyMSharmaMKumarADayalSJumarM2012Robust Attitude Estimation for Indoor Pedestrian Navigation using MEMS SensorsInstitute of Navigation GNSSNashville 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