According to this requirement, the paper presented an INS/GPS/DVL federated Kalman filter scheme based on information fusion theory of multi-sensors integrated navigation system.

• 为克服某船载导航系统不能满足长时间高精度导航定位需要的缺点,提出了一种基于信息融合技术的INS／GPS／DVL联邦滤波器组合导航方案。