Abstract
Aiming at the problem that the existing federated filtering algorithms are not sensitive to the abnormal measurement and poor tolerance, an improved adaptive federated filtering algorithm based on innovation is proposed, and when the navigation source is abnormal, it can automatically adjust the allocation factor. The experimental results show that the algorithm can effectively suppress the error when the navigation source is abnormal and improve the fault-tolerance of the multi-source information fusion navigation system. The implementation is simple, and the calculation is small and easy to implement.
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