基于滤波残差的组合导航系统故障检测研究

论文研究了两种用于组合导航系统中的故障检测方法，首先介绍了传统的残差χ^2检验法，随后给出了一种基于最大残差样本协方差阵特征值的故障检测算法。通过计算机仿真比较了两种算法在组合系统中的应用，仿真结果显示，基于特征值的故障检验算法对故障较敏感，系统组合精度略高，一定程度上优于传统残差χ^2算法。最后，文章讨论了组合导航系统中两种故障检测算法的优缺点。

Study on Kalman Filter Innovation Based on Integrated Navigation System Fault Detection

Two innovation based fault detection methods in the integrated navigation system are presented,one the chi-square test method and one the largest eigenvalue of the sample covariance matrices test meathod.The application of the two methods in the integrated navigation system is simulated and compared.Results show that the new method is more sensitivity to the fault,the integrated system have high accuracy.The relative merits in implementing the fault detect algorithm in the integrated navigation system is di...