野值存在情况下组合导航系统的容错技术研究

提出了“故障诊断周期”的概念，并基于一个诊断周期内占多数的数据均超过门限时才认为故障，否则认为是野值的故障原则对故障蜮野值情况分别处理。该容错方法不仅可以避免因野值造成的组成模式的频繁，而且还通过剔除野值对滤波的影响，提高了系统滤波精度和数据的连续性，并提高了系统故障检测的灵敏度。这在仿真中都得到了证明，说明该方法行之有效，在工程实际中也可以应用。

Fault Tolerant on Integrated Navigation System When Existing Outliers

The conception of fault diagnosis period is presented in this paper. The fault diagnosis approach is given, which is based on the diagnosis rule that if most data are all over the gateway, it is considered to be fault, otherwise, it is considered to be outlier. This technology of fault tolerant can not only avoid switching the integration pattern frequently, but also improve the filtering precision of the system, the continuity of data and the sensitivity of fault detection by eliminating the outliers. The above advantages of the new technology have been proven by the simulation results, which demonstrates that this approach is effective and can be used in the project.