Multi-constellation Integrated Navigation Algorithm based on Fault Tolerant Federated Strong Tracking Filter

When the multi-constellation integrated navigation system is applied to the high-dynamic environment,with the influence of the acceleration changing in a wide range and the properties for kinematics noise and measurement noise difficult to be ascertained exactly,the estimation precision of the general federated filtering decreases seriously,and the filtering even became divergence.Regarding to this problem,this paper applies strong tracking filter to fault-tolerant federated filter,forming a fault-tolerant federated strong tracking filter(FTFSTF).The algorithm proposed is applied on COMPASS/GPS/GLONASS multi-constellation integrated navigation system.The simulation results show that the algorithm is flexible,strong fault tolerant,and better to track high-dynamic targets,and has significantly improved the precision and reliability of the multi-constellation integrated navigation system.Simultaneously,owing to the combined application of the no-reset mode federated filter and some practical algorithms including the one-step suboptimal calculation method for fading matrix and the residual Chi-square detecting method,the FTFSTF algorithm has moderate calculation complexity,and it is easily implemented and valuable for engineering application.