Altitude location for UAV by using federated filter

is discussed, the fourth structure is selected, because its two

sub-filters involving altitude sensor and the difference Global

Positioning System (d-GPS) respectively are fully isolated from

each other and thus make the federated filter more fault-tolerant

and better in real-time performance. Data fusion based on this

federated filter was simulated. When the d-GPS is working

normally and simulation results show that values estimated by

data fusion base on federated filter are very close to real values

and the variance of federated filter converges to 10m. When the

electromagnetic environment is very bad, as is usually the case in

war zone, the d-GPS is silent for a long time, variance based on

federated filter converges to 13m, bigger than the 10m.

Compared with previous paper variance based on Kalman

converges to 15m, higher than the 13m. Federated filter can give

much more accurate estimation than Kalman filter.