中文摘要：

针对SINS/SAR/北斗组合导航系统中,图像匹配定位和北斗定位具有一定延迟的问题进行研究。首先,提出了采用曲线拟合的方法解决量测滞后问题。然后,在联邦滤波理论的基础上,研究并给出了一种基于故障检测函数的信息分配新方法。最后,将以上两种方法运用到SINS/SAR/北斗组合导航系统中进行了计算仿真。仿真结果表明：采用曲线拟合的方法和动态调整信息分配系数的方法后,可使系统位置误差由几十米减小为几米,并提高了系统的抗干扰能力。

英文摘要：

Since the image matching positioning and BEI-DOU positioning in SINS/SAR/BEI-DOU system existed time delay, we put forward two methods to overcome them. First, a new algorithm for solving the measurement delay was proposed based on curve fitting. Second, a new dynamic information distribution algorithm was proposed based on fault detection function. Based on the above two algorithms, we have simulated the SINS/SAR/BEI-DOU integrated navigation system. Simulation results show that the two algorithms can reduce the position error of SINS/SAR/BEI-DOU system to several meters, and improve the capability of anti-disturb.