Aiming at redundant measurement system of a vessel dynamic positioning

based on the fuzzy adaptive filtering and the fuzzy judgement of credibility of filter

a multi-sensor data fusion algorithm is proposed.Combining with the state estimates of linear system or nonlinear system

a fuzzy adaptive fusion algorithm is built.By monitoring the mean and the degree of divergence（DoD） of innovation information of a filter

the measurement noise covariance matrix is adjusted online by fuzzy reasoning system

and divergence of filtering is suppressed.Data quality control function and fault detection function of subsystems are built.According to the detection results

subsystems are selected adaptively to construct global fusion system.Utilizing the parameter DoD and the estimation error covariance

the credibility of a sub system filtering is evaluated by a fuzzy inference system

and weighted factors are calculated for the global fusion.The semi-physical simulation result indicates the effectiveness of the proposed algorithm.