Minimum Time Fault Diagnosis for Nonlinear GPS/SINS System Model

In this paper, a method of the minimum time fault diagnosis based on nonlinear GPS/SINS system model is presented, constructing a kind of nonlinear integrated navigation system model, putting forward a nonlinear CDKF-H∞ filtering method, in the framework of Bayesian, using the dynamic programming algorithm, constructing the fault diagnosis object function, it can be proved theoretically that the object function can achieve minimum value and then derivating the relationship between threshold and the false alarm rate. Simulation shows that the proposed algorithms can achieve highly precision and have a good effect on abrupt fault detection.