关键词: 数据融合, 联邦卡尔曼滤波, 滤波器-激励-参数函数, 最优滤波比, 信任因子

Abstract:

An adaptive federated Kalman filter model for multi-positioning system used in urban was proposed.Firstly, the credibility of subsystems was evaluated by estimating the position errors and the credible factors was obtained.Secondly, the information sharing factors of federated Kalman filter were assigned by credible factors to adaptive filtering.To assess the filtering effect, a new assessment method was proposed. Simulation demonstrates the effectiveness of the filtering algorithm and assessment method.

Key words: data fusion, federated Kalman filter, filter-stimuli-parameters function, optimal filtering ratio, credible factor