Fault-tolerant Filter Algorithm of Integrated Navigation Sensors and its Application

Multiple fading Kalman filtering algorithm what is optimal and adaptive is adopted to improve the measure for fault detecting by residuls based on Kalman filter,fault-tolerant integrated navigation algorithm developed thereby.The algorithm adjusts the matrix of fading factors adaptively so as to improve the optimality and convergence property,possess better dynamic and static characteristic,is appropriated to fault diagnosis and isolation for integrated navigation by sensors.