According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched, from it could find that this filter have good future in the project.

• 针对集中式卡尔曼滤波计算量大和容错能力差的缺点,本文还研究了联邦卡尔曼滤波算法,通过仿真发现此算法在工程上具有良好的应用前景。