A Self-adaption Kalman Federated Applying on Multisensor Positioninging System

Federated Kalman Filter is the more suitable filter for a multisensor system than a general Kalman Filter. For the Federated Kalman Filter, the information distribution is one of the key factors. The new self-adaption federated Kalman Filter is proposed to find a self-adaption distribution factor. The filter bases on a gyroscope, accelerometer as well as the positioning and navigation system(GPS). It aims to be used in the vehicle navigation system. The filter in this paper applying a simulated annealing (SA) algorithm as a correction for the distribution factor at lower time cost. The theoretical analysis and simulation results all show a stable filtering results.