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组合导航系统常用χ２检验法检测故障．本文通过对一ＳＩＮＳ／ＧＰＳ组合导航系统的仿真，分析了残差、状态２种χ２检验法对各种故障的敏感性，把２种χ２检验法相结合，建立起简单的故障检测／隔离专家系统，提高导航系统的精度和可靠性．
Integrated navigation system commonly used χ2 test to detect faults. In this paper, by simulating a SINS / GPS integrated navigation system, the sensitivity of two kinds of χ2 test methods of residuals and states to various faults is analyzed. Two kinds of χ2 test methods are combined to establish a simple fault detection / isolation expert system , Improve navigation system accuracy and reliability.