Fault detection method for the gyroscope and compass integrated navigation system

To improve the reliability of MEMS gyroscope and compass integrated navigation system, and reduce the influence of interference and faults on the system precision, a timely, accurate and effective fault detection method was proposed. The noise of the MEMS gyroscope and compass was analyzed. Based on the features of various faults, the mean difference between the heading angle of compass and MEMS gyroscope, first-order difference of mean and second-order difference of mean were calculated as fault detection values, which were used to locate the fault source. A warning stage is used to reduce the influence of the fault detection delay, and improve the timeliness. An experiment is implemented to test the performance of the fault detection method. The experimental result demonstrates that this method can detect and identify the faults of bias drift, rate ramp and magnetic interference correctly and timely, and reduce the influence of interference and faults error. ©, 2015, Science Press. All right reserved.