Precise Fault Isolation Method of INS/GPS/ADS Integrated Navigation System

For the problem that INS/GPS/ADS integrated navigation cannot accurately isolate faults, this paper establishes the chi-square detection models of INS/GPS and INS/ADS and the least squares detection model of GPS/ADS. A new isolation method is designed using the standard residuals component, which solves the position drift problem caused by isolating faulty GPS. By analyzing the diagnostic features of each detection model, the combined precise fault isolation method is proposed. Simulation experiments which take into account faults of different sizes and different duration show that the proposed method can effectively achieve the precise fault isolation.