A New Method of Informationsharing in Federated Filter

WT5,5”BZ]This paper summarizes the theory foundation and implementation of federated Kalman filter,and proposes a new dynamic informationsharing algorithm based on matrix norm,and designs a multinavigation system consisting of INS,GPS and Doppler.An integrated system is established utilizing pseudorange rate and Doppler velocity.It also constructs the federated Kalman filter and design the flying profile,and then simulates the integrated system using the new sharing factor in several fusion rates.The simulation result shows that the estimate effects using this method are the same as that of the centralized Kalman filter.