Development of information integration in navigation

This paper presents a new information integration principle (IIP) in state filtering and estimation of a large scale linear system. When applied to decentralized navigation systems in which one or more sensor dedicated local filters feed a larger master filter, it showed that the IIP is efficient and convenient, and can given optimal or suboptimal solutions based on the throughput, precision and reliability requirements. Practical navigation filter examples are presented and discussed in terms of structure, accuracy, throughput and fault tolerance.<
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