中文摘要：

运用一致性检验原理，提出了一种有效的分布式离散Kalman滤波器；分析了用于多传感器数据融合的分布式Kalman滤波方法，并将经过一致性检验的量测数据引入分布式Kalman滤波器进行数据融合；当干扰噪声的统计特征发生变化时，仿真结果表明该滤波器可以大大提高数据融合的精度。

英文摘要：

An effective distributed kalman filter on the basis of the improved method of the consensus measure theory is promoted, The distributed kalman filter of multi-sensor data fusion is introduced, and the consensus measure is applied to the distributed kalman filter. When statistic character of disturbing noise changes, the simulation result shows that the filter can improve the fusion precision and dependability.