Federated filter with strengthened FDIR capability for multiple sensor navigation system

A specific integrated navigation system, INS/GPS/Doppler/CNS was analyzed. The characteristic, model and principle of federated filtering algorithm with FDIR (fault detect/isolate/rescale) capability were researched to satisfy requests of high reliability and fault-tolerant ability which were put forward by multiple sensor navigation system. Moreover, application model and FDIR model were proposed for fusion system which are built-up by local systems and supervised by federated filter. Based on these two models, local multiple fading fault-tolerant filter and FDIR strategy for general system are presented. Effectiveness and practicability rise after the validation by simulations for this two-stage (local(s)+general) fault-tolerant multiple sensor fusion system