The system-level fault diagnosis algorithm for BD-2/SINS vehicles integrated navigation system were expounded, which includedχ2 residuals test method andχ2 states test method. Aiming at the shortage ofχ2 states test method, an improvedχ2 states test method based on Kalman filters is proposed. The system structure for BD-2/SINS vehicles integrated navigation fault diagnosis based on federated Kalman filter method is given, and theχ2 residuals test method is and assembledχ2 states test method is improved, which can provide the fault detection for hardware faults and software faults of BD-2/SINS vehicles integrated navigation system, at last the simulation and analysis are carried out with three different ways including fault free, a hardware faults and a software faults.%论述了车载BD-2/SINS组合导航的系统级故障诊断方法,包括残差x2检验方法和状态x2检验方法.针对状态x2检验原理的不足,提出一种基于卡尔曼滤波器组的改进的状态x2检验方法.文中构建了基于联邦滤波的车载BD-2/SINS组合导航的故障诊断系统结构,将残差x2诊断和改进的状态x2诊断方法加以整合,能够实现对BD-2/SINS组合导航硬故障和软故障的诊断,并针对无故障、硬故障和软故障三种不同情况分别进行了仿真研究和分析.
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