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。

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.

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因此，在非线性系统中，基于转换测量值卡尔曼滤波算法的分布融合算法可以重构集中式融合算法。

So it is concluded that in nonlinear systems distributed fusion algorithm based on converted measurement Kalman filtering can basically reconstruct a centralized fusion algorithm.

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因此，在非线性系统中，基于转换测量值卡尔曼滤波算法的分布融合算法可以重构集中式融合算法。

So it can be concluded that in nonlinear systems distributed fusion algorithm based on converted measurement Kalman filtering can basically reconstruct centralized fusion algorithm.

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