A New Information-Sharing Method of Federated Filter Based on Singular Value
Hongwei Bian · Ceshi jishu xuebao · 2006
On the basis of analyzing former information-sharing and resetting methods,this paper proposed a new method which determines the information-sharing factors dynamically for federated filter with resetting configuration based on singular value of the covariance matrix of the estimated errors. The Monte-Carlo simulation result of an INS/GPS/DVS/APS integrated navigation system shows that,compared with the former methods and the no-reset federated filter,the proposed method can effectively improve the precision of the estimated errors when the information-fusing period of the chief federated filter is longer than the filtering period of the local filter.