The abrupt errors contained in GPS signals influence, or even completely ruin the GPS/INS integrated navigation system.To solve this problem,a dual-stages fault detection and isolation method was proposed.Firstly,the chi-square test was implemented to detect the existence of faults on the whole system level.Then, w test was investigated to identify and isolate faults within each subsystem.Compared with traditional fault detection and isolation methods,the proposed method can reduce the probability of miss-detection and improve the probability of successful identifying faults in each subsystem.The simulation results show that the navigation accuracy and stability of the GPS/INS integration system can be effectively improved by using this proposed method.
Key words
integrated navigation /
fault detection and isolation /
chi-square test /
w test
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