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中文摘要：
为了充分利用姿态量测信息来提高组合导航系统的姿态精度，以联邦滤波为基础，研究了以姿态、位置和速度信息作为观测量的多信息融合导航技术，分析并提出了适合工程使用的联邦滤波器的原理结构与算法实现，深入推导了基于联邦滤波的姿态组合算法的观测矩阵的具体形式，最后给出了仿真和实测数据的验证．结果表明，基于联邦滤波的姿态组合滤波算法能够有效地提高惯导系统的姿态精度，对方位角的改善尤为明显．
英文摘要：
To improve the attitude precision of integrated navigation system （INS） effectively based on the attitude measuring information, the multi-information fusion navigation technology in federated filters, which takes the carrier＇s attitude, position, and velocity as the measuring variables, is investigated. The structure of the federated filters is studied, and the attitude integrated method is proposed and the measuring matrix is deduced. By comparing the simulation with the actual application, it is proved that the attitude integrated method based on federated filters can improve the attitude precision of INS effectively, especially in heading angle.
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