简介：Thispaperpresentsadatafusionmethodindistributedmulti-sensorsystemincludingGPSandINSsensors'dataprocessing.First,aresidualχ2-teststrategywiththecorrespondingalgorithmisdesigned.Thenacoefficientmatricescalculationmethodoftheinformationsharingprincipleisderived.Finally,thefederatedKalmanfilterisusedtocombinetheseindependent,parallel,real-timedata.Apseudolite(PL)simulationexampleisgiven.
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