Federated EKF filtering method based on graph theory analysis and application thereof

The invention discloses a federated EKF filtering method based on graph theory analysis and application of the federated EKF filtering method, and belongs to the technical field of filtering methods.The method comprises the following steps: introducing a graph theory analysis method into a federated filtering model to construct a centerless iterative data fusion model; wherein in the centerless iterative data fusion model, each positioning subsystem of the federated filter is used as a node of a graph in graph theory analysis, and the correlation between the nodes is used as an edge to obtainthe centerless iterative data fusion model. According to the invention, a distributed federated EKF iterative data fusion model is established; a traditional local-center mode is optimized into a centerless iterative data fusion mode, an accurate estimation result can still be provided when a certain node breaks down or a large amount of noise is measured, the robustness of the whole data fusionsystem is improved, and lon