Credibility Based Data Fusion Algorithm for Multi-Positioning System
Lu Yin · Beijing Youdian Xueyuan xuebao · 2014
An adaptive federated Kalman filter model for multi-positioning system used in urban was proposed. Firstly,the credibility of subsystems was evaluated by estimating the position errors and the credible factors was obtained. Secondly,the information sharing factors of federated Kalman filter were assigned by credible factors to adaptive filtering. To assess the filtering effect,a new assessment method was proposed. Simulation demonstrates the effectiveness of the filtering algorithm and assessment method.