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中文摘要：
Corresponding author.Feng Yang was born in 1977. He is a lecturer and a Ph.D. in Northwestern Polytechnical University. His research interests are information fusion, target tracking, and navigation. E-mail： yangfeng@nwpu.edu.cn Cheng Cheng was born in 1961. He is a master student of Northwestern Polytechnical Uni- versity. His research interests are integrated navigation and information fusion. E-mail： selfch@ 163.com Quan Pan was born in 1961. He is a professor and a Ph.D. in Northwestern Polytechnical University. His research interest covers information fusion, multiscale estimation and multiple target tracking. E-mail：quanpan@nwpu.edu.cn Gongyuan Zhang was born in 1980. He is a Ph.D. in Northwestem Polytechnical University. His research interest covers nonlinear filtering, information fusion and integration navigation. E-mail： zhanggongyuan @ mail.nwpu.edu.cn
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