An improved Federated Filter navigation algorithm for UAV

In the UAV (Unmanned Aerial Vehicle) integrated navigation system, considering the poor fault tolerance, inaccurate system model and robustness of the classic GPS/INS (Inertial Navigation System) integrated navigation algorithm, an improved Federated Filter navigation algorithm is put forward in this paper. Firstly, the GPS/INS/MAG (magnetometer) Federated Filter algorithm based on the theory of federated filter was designed. Secondly, the Adaptive Fading Kalman Filter algorithm and Robust Kalman Filter algorithm are introduced into the two sub-filters of the federated filter algorithm to suppress the interference of inaccurate system model and sensor errors on the filter results. The simulation results show that the Federated Filter model is effective and the improved Federated Filter algorithm can effectively enhance the attitude angle accuracy and suppress the influence of sensor error on the filter result.