Research on malfunction detecting and isolating algorithm for GPS/INS integrated navigation system

Based on the GPS/INS integrated navigation system fault tolerant design researching, detect and isolate the fault of partial filter with the residual method of inspection. After the fault partial filler recovered, re put the main filter for navigation. Create the residual inspection Kalman filter equation, access the filter initial value, and proceed with the GPS ineffective site simulation. From the emulate result, it can be seen: applying the residual method of inspection to detect and isolate the partial filter can improve the accuracy of the navigate system effectively and can get a good fault tolerant performance.