Modification of the Federated Kalman Filter Using the Observability Degree Criterion of State Variables

The implementation schemes of the federated Kalman filter are considered. It is proposed to increase the accuracy of the federated Kalman filter using a numerical criterion for the observability degree of state variables of the process assessed. The observability degree criterion is used to determine the correction factors of the federated Kalman filter. The effectiveness of the developed modifications of the federated Kalman filter is demonstrated by the example of estimating the errors of the aircraft inertial navigation system.