A Novel Fault Detection Algorithm for Integrated Navigation System

To improve the fault tolerance performance of the integrated navigation system, it is necessary to have a mechanism to validate the filter measurements in real-time, to decide which parts of observations can be used to estimate the whole state. Therefore, real-time fault detection and isolation algorithm should be provided in the filter to guarantee the stability of the integrated navigation system. To detect and isolate abrupt faults problem in navigation system, an improved algorithm was proposed. The proposed algorithm was based on the local test of standard residual vector. The influence of correlation coefficient between any two test statistics on the probability of miss-identification was analyzed and used to improve the success rate of fault localization. It can not only detect the system error, but also identify the abrupt fault measurement so as to isolate it with a high success rate. The experimental results show that the proposed method can improve the integrated navigation system accuracy effectively by using the validated redundant observation.