Firstly, filtering model of integrated positioning system is founded based on vehicle current statistical model. Appplication of Extended Kalman Filtering(EKF), Federated Kalman Filtering(FKF) and Strong Tracking Filtering(STF) in the system are studied and analyzed respectively.
建立了基于“当前”统计模型的组合定位系统的滤波模型，分析研究了传统的扩展卡尔曼滤波，联合卡尔曼滤波，强跟踪滤波算法在全球定位系统／航位推算组合定位系统中的应用。
参考来源 - GPS/DR组合定位系统数据融合算法的研究·2,447,543篇论文数据，部分数据来源于NoteExpress
When Kalman filtering cannot track efficiently the state with abrupt changes, MSTKF switches to strong tracking filtering with varying softening factor.
当卡尔曼滤波不能有效跟踪突变状态时，MSTKF切换为可变弱化因子的强跟踪滤波。
A slightly modified strong tracking filtering algorithm is used to estimate the reduced-order state vector, which is then used to estimate the nonlinear state function.
采用一种稍加修改的强跟踪滤波算法估计降阶状态向量，然后利用降阶状态向量估计非线性状态函数。
By combining the strong tracking filtering theory with data fusion estimation approaches, we put forward a new fusion estimation algorithm of multi sensor based on strong tracking filter.
将强跟踪滤波理论与多传感器数据融合估计方法相结合，提出基于强跟踪滤波器的多传感器数据融合估计新算法。
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