联邦滤波理论在组合导航系统设计中的应用

为了解决导航信息大量冗余情况下组合导航系统计算量过大及故障数据互相污染的问题，本文探讨了具有容错结构的无复位联邦滤波器的设计方法，包括公共参考系统的选定及信息的合理分配原则，并对集中滤波器和联邦滤波器作了对比仿真计算。仿真结果表明：融合周期为滤波周期的１０倍时，联邦滤波精度与集中滤波精度几乎相同。

Appilcation of Federated Filtering Theoryto Designing Integrated Navigation Systems

The more redundant the navigation information are , the more heavy the calculation load in integrated navigation systems is. To solve this problem , the paper investigates a rnethod in designing the noreset federated filter with fault - tolerant structure. The research includes how to choose the common reference system and how to decide the proper scheme in sharing the common information. Both center- alized filter and federated filters are designed and simulated in order to compare their fil- tering efficiencies. The simulation results show that the accuracies of the federated filter are almost the same as those of the centeralized filter when the fusion period is ten times longer than the filtering period .