联合卡尔曼滤波及其在舰船综合导航系统中的应用

针对ＩＮＳ／ＧＰＳ／ＣＮＳ舰船综合导航系统的特点，设计了用于该系统的联合卡乐意轻滤波器，该联合卡尔曼滤波器具有全局最优性，其结构遵循信息分配原则，其算法改善了数值计算的稳定性和系统的容错性，并减少了信息舆量与计算量，理论分析及仿真结果表明，该联合滤波器能够满足系统精度和容错性的要求。

Federated Kalman Filtering and Its Application to Ship Integrated Navigation System

Federated Kalman filter applied to INS/GPS/CNS integrated navigation systems is described with emphasis on the algorithm implementation issues and the numerical simulation results.The federated Kalman filter is globally optimal. Its partitioned estimation architecture is based theoretically on the information sharing principles. The method can provide improvements in filter stability, fault tolerance and data throughput. Theoretic analysis and numerical simulation results have demonstrated the fine performance characteristics of the federated filter in terms of estimation accuracy and fault tolerance.