【Key words】 linear system； sensors； states； estimations； hierarchical fusion；
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分层融合算法 Hierarchical fusion algorithm
分布式分层融合 Distributed hierarchical fusion
分数层融合算法 MPMSF
地球层圈分化融合作用 differentiation and assimilation of the layers and spheres of the earth
进而提出了分层融合算法的部分反馈模式。
Then the part feedback mode of the hierarchical fusion algorithm is presented.
而分层融合结构作为多传感器信息融合的另一种重要的模式，在组合导航系统中应用尚未见报道。
However, the multi level fusion architecture, another important multisensor information fusion mode, has not been applied to the integrated navigation system as far as know.
与上述研究不同，本文重点考察了融合系统中传感器数目对非实时有反馈分层融合算法性能的影响。
In the research, more attention is paid to the effect of the number of sensors on the steady performance of the algorithm with different feedback mechanism.
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