Polar fault-tolerant federated filtering algorithm based on mahalanobis distance
Aiming at the problem that the integrated navigation system of ships suffers from external measurement fail-ure due to the extreme harsh environment in the polar region,which reduces the system accuracy,a polar fault-tolerant feder-ated filtering algorithm based on Markov distance is proposed.The measurement quality of each sub-filter is measured by in-troducing the mahalanobis distance between the real measurement and the predicted measurement,and the corresponding fu-sion coefficient of each sub-filter in the optimal fusion of the main filter is constructed by using the mahalanobis distance,so as to reduce the ratio of the fault sub-filter in the optimal fusion and reduce the adverse effect of the fault sub-filter on the global estimation.The simulation results show that this algorithm has better fault-tolerance and reliability than the traditional federated filtering algorithm,especially in the case of sub-filter measurement failure.
federated filteringpolar region integrated navigationmeasurement failureinformation fusion
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