Multi-sensor Information Fusion Based on Federate Particle Filter
Chen Lian-hua · Journal of Projectiles.Rockets.Missiles and Guidance · 2011
A new measurement equation of SINS/CNS/GPS integrated navigation was established,and also a novel federate filter(federated particle filter,KPF) was proposed to estimate the state of non-Gaussian and non-Linear SINS/CNS/GPS system,in which particle filer was introduced to federate filter so that the information fusion of subsystem can be solved by the particle filer.By doing so,the federate filter can get rid of the disadvantage of ordinary Kalman filter.The simulation results of SINS/CNS/GPS navigation system demonstrate the feasibility of the proposed algorithm.