组合导航系统中的联邦滤波算法研究

Federated Kalman Filter for Integrated Navigation System

分析了联邦滤波算法的理论基础，并讨论了联邦滤波器的４种设计方案，针对一多传感器组合导航系统进行了仿真，仿真结果证明了联邦滤波算法在估计精度、容错性及数据处理能力等方面具有很好的性能，可以实现未来组合导航高精度、高容错性、高可靠性．

This paper analyzes the theoretical base of the federated filter and discusses its 4 modes. In view of a multisensor integrated navigation system, we simulate the federated Kalman filter. The simulation results prove that the federated filter has good feature on accuracy, fault tolerance, data processing capability. It can realize the future integrated navigation systems potential to provide high levels of accuracy and fault tolerance and reliability.