On fault-tolerant navigation technique and its application in INS/GPS/Doppler integrated navigation system

For satisfing the high accuracy and reliability of carrier navigation performance requirements, a design project for fault-tolerant integrated navigation system according to inertial navigation system was proposed, which integrating classical fault detection and federated kalman filtering and adopting dasiafault diagnosis periodpsila approach to deal with system fault and outlier differently. With the carrier usage request and each navigation system usage scope and characteristics, the feasibility of the proposed project was analyzed by an actual INS/GPS/Doppler integrated navigation system example. The result shows that the project could effectively realize fault detection, isolation and reconfiguration, and the whole navigation computing process keeps good algorithm continuity, stability and system accuracy.