分散化滤波及其在DGPS／INS组合系统中的应用

Decentralized Filter and Its Application in DGPS/INS Integrated System

讨论了两种分散化滤波的合成算法，并对分散滤波器和联合滤波器的特点及计算量进行了比较。本文还建立了伪距双差及载波相位双差ＧＰＳ／ＩＮＳ组合系统的Ｋａｌｍａｎ滤波方程，并分别用集中式和分散滤波器对它们进行了仿真。

In this paper, the algorithm for two kinds of filters: decentralized filter and federated filteris studied. The Kalman filter equations are also proposed for psuedo - range and carrier phasedouble differential GPS/INS integrated navigation system. The simulation curves are presentedby the decentralized filter. Results show that this algorithm is suitable for multi - sensorsystems and it provides the probability for FDIR.