针对GPS/SINS组合导航系统的故障检测与识别,提出一种层次滤波器结构,该结构包含主、子滤波器两个层次,使用不同的卫星量测信息.通过监测主、子滤波器的故障检测结果,识别出具体的故障卫星,利用未包含故障星的滤波器可进行不中断导航.完成了基于层次滤波器结构的GPS/SINS滤波算法和故障检测算法设计,将该方案应用于伪距组合的GPS/SINS紧耦合系统,仿真结果表明当只存在4颗可见星时,该方案仍能有效地检测和识别单颗卫星故障,增强了系统的完好性；同时仿真验证了该结构具备检测两颗以上卫星故障的能力,但不能识别具体的故障星.%A level filter configuration for detecting and identifying GPS/SINS integrated navigation system is proposed in this paper,which consists of one main filter, and several sub filters,and each filter uses different measurements. By monitoring the detection results of main and sub filters, the specific failure satellite can be identified, and the navigation can be implemented using the uncontaminated filter. Based on the level filters configuration, the filter algorithm and failure detection algorithm are designed and applied to GPS/SINS tightly coupled system. The simulation results shows that even only 4 satellites can be seen, and the configuration can still detect and identify the failure under one satellite failure, thus the system's integrity is enhanced; and the ability of detecting more than two satellite's failures is verified, but the failure satellite can't be identified.
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