（中國民航大學電子信息工程學院，天津 300300）
摘要：GPS/INS組合導航系統現已廣泛應用于航空、航天、航海和公路交通等領域，對于它的完好性檢測研究，分別采用殘差檢驗法和狀態檢驗法進行了深入的研究分析，同時給出了對殘差檢驗法的改進方法，即基于狀態遞推器的方法。通過對突變故障檢測和緩變故障檢測的仿真研究，驗證了3種算法的有效性，并且仿真結果表明在緩變故障的檢測上，基于狀態遞推器的方法比殘差檢驗法有一定的優越性。
關鍵詞：組合系統；完好性檢測；檢驗法；狀態遞推器
中圖分類號：V249.32 文獻標識碼：A
The Research of Integrity for GPS/INS Integrated
Navigation System
Sun Shuguang, Liu Tao
（Department of Electronic and Information Engineering, Civil Aviation University of China, Tianjin300300, China）
Abstract: GPS/INS integrated navigation system is now widely used in aviation, aerospace, marine and road transport. According to integrity study, a deep analysis was taken for residual chi-square test and state chi-square test, a state propagator test which was a improvement to residual chi-square test was introduced. A simulation study of two methods was done based on detection of abrupt failure and gradual failure. The results prove the validity of three methods and show that a state propagator test has some advantages over residual chi-square in the gradual detection.
Key words: integrated system; Integrity detection; chi-square test; state propagator
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