A novel disturbance decoupled filter (DDF) design scheme is presented.

提出一种干扰解耦滤波器(DDF)设计的新方法。

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In the improved filter estimation method, the decoupled state and bias estimation technology is introduced to estimate gyro constant bias during ZUPT.

改进的滤波估计法引入偏差去耦技术在零速校正期间估计出陀螺漂移，并利用速度信息快速估计出方位误差角。

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Then the design of fault detection filter with robust eigenstructure assignment is investigated in a class of residual signal for the unknown input disturbance can not be completely decoupled.

同时，针对残差信号与未知输入干扰不能完全解耦的情况，本文采用特征结构配置方法进行鲁棒故障检测滤波器设计。

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