对“联邦滤波器理论研究”一文的商榷

Discussion about ‘Study on the Theory of Federated Filter’

讨论了联邦滤波信息分配原则,指出了《中国惯性技术学报》第10卷第6期“联邦滤波器理论研究”一文中有关信息分配的一些问题,说明采用该文献所述方法,主滤波器和各个子滤波器估计均不是最优的,并在GPS姿态测量系统中利用实测数据进行了仿真研究。结果表明信息分配因子选择不当将造成联邦滤波器估计性能下降。

The federated filter theory and information sharing principle is discussed, and some problems in the paper of 慡tudy on the Theory of Federated Filter?in Journal of Chinese Inertial Technology Volume 10 Number 6 are pointed out. The analysis shows that using the method given in this paper, neither global filter nor local filters are optimal. The simulation results obtained from GPS attitude determination system indicate that the estimation precision of federated filter will get worse because of improper choice of information sharing factors.