一种具有容错性的分散化滤波算法

FAULT TOLERANT DECENTRALIZED FILTERING METHOD

先介绍了联邦滤波器和方差交叉滤波器，然后结合上述两种方法，提出了一种具有容错性的分散化滤波方法，证明了这种方法是次优的，并给出了确定信息融合因子的算法，最后通过一个组合导航系统的仿真例子验证了这种方法是可行的和有效的。

First, the federated filter and the covariance intersection filter are described. Then based on these two methods, a fault\|tolerant decentralized filtering method is proposed. It is proved in this paper that the fault\|tolerant filtering method is sub\|optimal, and an algorithm of determining the information fusion\|factors is given. Finally, the simulation result shows that the new method is practical and efficient for the integrated navigation system.