Application of fault tolerant and federated strong tracking Kalman algorithm in integrated navigation system

An improved federated strong tracking Kalman filter has been proposed creatively and has been used in loose coupling MSINS/GPS integrated navigation system. Adopting three-layer fault tolerant structure, it can effectively check the errors of data outlier, GPS's velocity jump and the malfunction of the filter state estimate. When the system fault has been diagnosed, it can be insulated in real time, which can make this system have better ability of tolerant the faults. The simulation results show that this approach can resolve the problem of the correlation of GPS's position and velocity measurement data, GPS's velocity jump and the system's sensitivity to initial values. Thus, the real time character, Robust and the ability of tolerating faults of the system has been improved.