Practical integrated navigation fault detection algorithm based on sequential hypothesis testing

In detecting system fault algorithms, the false alarm rate and undectect rate generated by residual Chi-square test can affect the stability of filters. The paper proposes a fault detection algorithm based on sequential residual Chi-square test and applies to fault detection of an integrated navigation system. The simulation result shows that the algorithm can accurately detect the fault information of global positioning system (GPS), eliminate the influence of false alarm and missed detection on filter, and enhance fault tolerance of integrated navigation systems.