Data fusion in distributed multi-sensor system

This paper presents a data fusion method in distributed multi-sensor system including GPS and INS sensors' data processing. First, a residual χ²-strategy with the corresponding algorithm is designed. Then a coefficient matrices calculation method of the information sharing principle is derived. Finally, the federated Kalman filter is used to combine these independent, parallel, real-time data. A pseudolite (PL) simulation example is given.