关键词: 组合导航, 数据融合, 置信度, 联邦滤波, GPS/INS/里程计

Abstract: A novel method on the data fusion framework is presented in this paper, taking the confidence of subfilters into consideration. For the standard Kalman filter theory, the confidence of subfilters is degraded by the time varied statistic of measurement noise, meanwhile the federated Kalman filter integrating these subfilters is severely influenced. To cope with that, firstly, the fuzzy adaptive Kalman filter is applied to subfilters to make them work optimally. Secondly, the confident function is used to compute the confidence of subfilters, then the confidence&nbs

Key words: integrated, navigation, system, data, fusion, confidence, federated, filter, GPS/INS/Odometer