The Kalman modal of the three-satellites(TS) system was presented,then the extended Kalman filter algorithm for TS/GPS/Galileo system was studied and the structure of the Kalman filter considering the characteristics of the combined system is given.

The results show that the positioning performance of the combined system is perfect an.

As compared with GPS system,the availability of the combined system is improved,and it can still meet the aviation performance requirement at large mask angle.

Aiming at GPS s low dependability when it is used in the city by itself and the DR s self-help,this paper erects the state equation and the measurement equation of GPS/DR integrated system,and erects the self-adaptive Kalman Filter model for this integrated system.

Thus integrated system can be normalised by the formula.

This paper equivalently converts the state variable diagram of integrated system to the corresponding open loop by the disloop conversion, thus it is possible to normalize state variable diagram of integrated system through direct reading method.

Model reference adaptive decentralized control for a class of large-scale composite systems;

Decentralized control for composite systems with input saturation;

A sufficient condition for the existence of nonlinear robust guaranteed cost controllers is proposed via Lyapunov stability theory by using linear matrix inequalities(LMIs) approach for a class of nonlinear composite systems with the uncertainties having upper-bound.