Real-time and accurate fault detection and isolation is very important to ensure the reliability and precision of integrated inertial navigation and global navigation satellite systems. In this paper, the detection performance of a residual chi-square method is analysed, and on this basis an improved method of fault detection is proposed. The local test based on a standardised residual is introduced to detect and identify faulty measurements directly. Differing from the traditional method, two appropriate thresholds are selected to calculate the weight factor of each measurement, and the gain matrix is adjusted adaptively to reduce the influence of the undetected faulty measurement. The sliding window test, which uses past measurements, is also added to further improve the fault detection performance for small faults when the local test based on current measurements cannot judge whether a fault has occurred or not. Several simulations are conducted to evaluate the proposed method. The results show that the improved method has better fault detection performance than the traditional detection method, especially for small faults, and can improve the reliability and precision of the navigation system effectively.

中文翻译：

---

基于鲁棒估计和滑动窗口测试的INS/GNSS集成故障检测改进方法

实时、准确的故障检测和隔离对于保证综合惯性导航和全球导航卫星系统的可靠性和精度非常重要。本文分析了残差卡方方法的检测性能，并在此基础上提出了一种改进的故障检测方法。引入基于标准化残差的局部测试来直接检测和识别错误测量。与传统方法不同，选择两个合适的阈值来计算每次测量的权重因子，并自适应调整增益矩阵以减少未检测到的错误测量的影响。滑动窗口测试，它使用过去的测量值，还增加了在基于电流测量的本地测试无法判断故障是否发生时，进一步提高对小故障的故障检测性能。进行了几次模拟来评估所提出的方法。结果表明，改进后的方法比传统的检测方法具有更好的故障检测性能，特别是对于小故障，能有效提高导航系统的可靠性和精度。