对“联邦滤波器信息分配系数的优选算法”一文的商榷

Discussion about ‘Optimized Algorithm for Information Sharing Coefficients of Federated Filter’

介绍了联邦滤波算法和信息分配原理,指出《中国惯性技术学报》第11 卷第6 期“联邦滤波器信息分配系数的优选算法”一文中存在一些问题,说明使用该优选算法进行信息分配,可能使主滤波器方差阵失去正定性;将联邦滤波用于GPS 姿态测量,实验表明动态选择信息分配因子,相对于固定信息分配因子的算法并没有明显优势。

The federated filter theory and information sharing principle is discussed, and some problems on ‘Optimized Algorithm for Information-sharing Coefficients of Federated Filter’ in Journal of Chinese Inertial Technology Vol.11 No.6 are pointed out. The analysis shows that using the information sharing method, the covariance matrix of main filter may be not positive definite. The method is used in GPS attitude determination system, and simulation result indicates that the superiority is not evident.