随着GPS/SINS组合导航系统应用领域的拓展,GPS完好性问题越来越受到关注.为快速有效地检测隔离GPS卫星慢变故障,提出一种层次滤波器结构,采用伪距量测的滤波算法,基于该结构完成了SINS/GPS组合导航算法和故障检测隔离算法的设计.以4颗星为例,仿真验证该方案不仅可以准确检测隔离慢变故障,而且可以使用未受故障卫星污染的滤波器继续进行导航解算.%With the exploitation of GPS/SINS integrated navigation system, more and more attention was paid to GPS integrity. Aiming at efficiently detecting and isolating slow growing errors ( SGE ) occurred in GPS satellites, a filter level configuration was proposed, the SINS/GPS integrated navigation algorithm and failure detection/isolation algorithm were designed based on the proposed configuration. Taking four satellites as a special case, the scheme's ability to detect and isolate SGE was verified through simulation, and the navigation process can be proceeded without interruption using the uncontaminated filter.
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