Practical Multi-Fading Two-Stage Fault-Tolerant Federated Filter for Multi-Sensor Information Fusion

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