An Adaptive Federated Filter

What is it about?

There are two main contributions of this paper. Firstly, federated filter architecture without a fault isolation module is set up in a multi-sensor integrated navigation system. Secondly, a novel method of vector-formed information sharing is proposed.

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Why is it important?

The proposed method uses the two-state chi square detection algorithm to calculate the parameters corresponding to each state, making the state with higher accuracy obtain a greater information distribution coefficient. In addition, according to the value of vector-formed information sharing, an adaptive coefficient of measurement noise is designed. This improves the adaptability of the navigation system to soft faults.