SINS/GPS/CNS integrated navigation method study based on Federated Filter

GPS (Global Positioning System) have high position and velocity precision, star sensor is a high accuracy attitude measurement system, SINS (Strapdown Inertial Navigation System) can get all navigation information precisely at short period. In order to realize high-precision navigation, according to analyze the error model of above systems, both of the state equations and measurement equations were studied. Decentralized fusion method was used in navigation information processing in which Kalman Filter was used as Local-Estimator, and a new kind of Federated Filter based on partial information fusion was proposed. One of the filter configuration was been selected in the integrated navigation system. The results of the simulation validate that the navigation accuracy can be improved to a higher level in this method.