Research on Fault Tolerant Algorithm of SINS/BDS/GPS Integrated Navigation System

The fault-tolerant technology of integrated navigation is an important research area.In order to improve the reliability of the system, the fault detection module algorithm needs to be more perfect. Past researches focus on a single navigation system;however,a single system has many important problems for many challenging applications. This contribution focuses on the federated SINS/BDS/GPS integrated navigation system and the fault-tolerant algorithms applicable to the system.Based on the federated filter structure, this paper designs a combined navigation system for SINS/BDS/GPS fault detection and isolation. Combining fuzzy adaptive residual detection algorithm with improved SPRT detection method, a joint detection algorithm is proposed. The simulation experiments has been performed that, compared with other basic fault detection algorithms, this scheme can detect the fault source and isolate the fault part even when the sub-filter fails, effectively ensuring the positioning accuracy of the system and improving the reliability.