Multisensor data synthesis using federated of unscented Kalman filtering

In this paper, a decentralized unscented Kalman filter (UKF) in federated configuration is developed for multisensor navigation data fusion. The UKF is a nonlinear, distribution approximation method that uses a finite number of points to propagate the state's probability distribution through the system's nonlinear dynamics. In multisensor data fusion application, the configuration features of the federated unscented Kalman filter (FUKF) are investigated. To elaborate the concept of this filter structure, a case study of the strapdown inertial navigation system (SINS) integrated with astronavigation system (ANS) and global positioning system (GPS) is presented. Simulation results demonstrate the validity of the proposed filter configuration.