The federated kalman filter raised by carlson, which is developed from the decentralized filter, can be used to design the integrated navigation system with high precision and good fault tolerance flexibly 本論文針對(duì)上述問(wèn)題探討了容錯(cuò)組合導(dǎo)航系統(tǒng)的設(shè)計(jì)理論和方法,即采用聯(lián)邦濾波技術(shù),可以靈活地設(shè)計(jì)出精度最優(yōu)或容錯(cuò)能力最強(qiáng)的組合導(dǎo)航系統(tǒng)。