Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.

中文翻译：

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基于导航切换策略的SINS/GPS/ADS/DVL容错综合导航系统

考虑到传统的基于联邦滤波的容错组合导航系统难以通过串行数据处理电路实现，本文提出了基于导航切换策略的SINS/GPS/ADS/DVL容错组合导航系统，以保证系统的可靠性。传感器故障下的集成导航系统。当传感器出现故障时，依次选择SINS和无故障传感器组成组合导航系统，从而获得可靠的导航参数。通过仿真试验验证了SINS/GPS/ADS/DVL组合导航系统在ADS和DVL关闭时能够提供可靠的导航参数。