联邦滤波信息分配新方法

总结了联帮滤波器理论的基础和实现方法，提出了一种基于矩阵范数进行信息动态分配的联帮滤波新算法。设计了一种由INS、GPS和Doppler测速雷达构成的多传感器组合导航系统，在新的信息分配因子准则下，对多种融合速率时的组合系统进行了仿真。仿真结果表明：该方法可以达到与集中式卡尔曼滤波十分接近的全局估计效果，并且该方法有助于简化组合导航系统的故障检测和隔离算法。

A New Method of Informationsharing in Federated Filter

This paper summarizes the theory foundation and implementation of federated Kalman filter,and proposes a new dynamic informationsharing algorithm based on matrix norm,and designs a multinavigation system consisting of INS,GPS and Doppler.An integrated system is established utilizing pseudorange rate and Doppler velocity.It also constructs the federated Kalman filter and design the flying profile,and then simulates the integrated system using the new sharing factor in several fusion rates.The simulation result shows that the estimate effects using this method are the same as that of the centralized Kalman filter.