A Robust Federal Filtering Method Based on Temporal Measured Noise
A federal filtering and noise technology, applied in the field of integrated navigation, to achieve the effect of improving estimation performance, improving performance, and eliminating the influence of sensitivity
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[0024] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:
[0025] Such as figure 1 As shown, the principle of the present invention is: starting from the perspective of navigation of the geographic system, according to the system state equation and the linearized measurement equation of each subsystem, a filtering subsystem is formed. The time variable measurement noise is constructed by using the federated filtering information distribution coefficient, and on this basis, the optimal residual detection quantity is selected, and the information distribution coefficient is designed by using the optimal residual detection quantity and chi-square fault detection threshold value, so as to further complete information distribution, Optimal fusion and other steps are used to realize the optimal estimation of the integrated navigation error state quantity. The specific implementation method is as follows:
[0026] (1) Establ...
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