Abstract: First, the federated filter and the covariance intersection filter are described. Then based on these two methods, a fault\|tolerant decentralized filtering method is proposed. It is proved in this paper that the fault\|tolerant filtering method is sub\|optimal, and an algorithm of determining the information fusion\|factors is given. Finally, the simulation result shows that the new method is practical and efficient for the integrated navigation system.

Key words: decent ralized filt ering, fault toler ance, estimation