舰船综合导航系统的联合卡尔曼滤波器设计

针对由惯性导航系统，全球定位系统及天文导航设备组成的舰船综合导航系统的特点，设计了联合卡尔曼滤波器，并给出了联合卡尔曼滤波器的结构及其算法。理论分析与仿真结果表明，该算法具有全局最优性，能够满足系统的精度要求，且应用该联合滤波可提高系统的容错性能。

Design of Federated Kalman Filter for Ship Integrated Navigation System

Based on the features of the integrated navigation system composed of INS,GPS and CNS,a federated Kalman filter is developed. The structure and algorithm of the filter are also given. Theoretical analysis and simulation results show that this federated Kalman filtering algorithm is optimal in addition to the satisfaction of the accuracy requirement.Moreover,by using this algorithm ,the fault-tolerant ability can be greatly improved.