According to the characteristics of controlled object, kalman filter and parameter self-adaptive fuzzy PID algorithm are combined together. In controlling interference and measurement noise in harsh environments, the implementation of the PID parameters on-line adjustments, and basic elimination of interference and noise. Compared with traditional PID and Fuzzy-PID control with MATLAB programming simulation, this method has adaptability to the system which has the characteristic of time variation, uncertainty and non-linearity. The system to control interference and measurement noise has a good inhibitory effect.