Study on unequal-interval federated filter algorithm based on dynamic information distribution

Federated filtering algorithm cannot fuse the local information at every cycle due to the different data update frequency of various navigation devices in integrated navigation system, hence may loss information and induce factitious errors. The traditional unequal-interval algorithms mainly deal with the frequency inconsistency of navigation devices, but did not take the dynamic allocation of information into account. This paper proposes an Unequal-interval Federated Filter Algorithm based on dynamic information distribution. This method can dynamically adjust the information distribution factor according to the number of effective local filters, system estimation accuracy and the observability of the local filters, reset the local filters, optimally fuse different measurement information, and further improve the performance of federated filtering algorithm.