Investigation of System Fault Detection in INS/GNSS/SAR Integrated Navigation System

System Fault Detection,Isolation and Racofiguration of INS/GNSS/SAR integrated navigation system is stud- ied in this paper.The paper provides a fault-tolerant federated filter algorithm for INS/GNSS/SAR integrated naviga- tion system.The computer simulation demonstrates that its accuracy is equal to that of the centralized Kalman filter with the good performance of fault-tolerance.