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针对一大型复杂惯性导航系统，构造了用于地面闭环动态测试中的实时故障检测与诊断系统．通过利用惯导系统的原理性、结构性知识和专家经验性知识，采用面向对象的方法有效表示了系统中的深、浅层知识．为了实现系统在闭环运行时的实时故障检测与诊断，笔者讨论了惯导系统特征向量的选取和时变知识的表达方法，并采用了检测与诊断分层的推理控制策略．通过实时检测系统中有限个重要特征向量在系统运行过程中的变化，对故障进行检测，然后根据检测结果决定故障诊断的范围和方向．此系统用于某型惯导系统的三通道动态测试，实际结果表明了所建造诊断系统的有效性．
For a large complex inertial navigation system, a real-time fault detection and diagnosis system for ground closed-loop dynamic testing is constructed. Through the use of the principle of inertial navigation system, structural knowledge and expert experience of knowledge, the use of object-oriented approach effectively expressed the system of deep and shallow knowledge. In order to realize the real-time fault detection and diagnosis of the system in closed-loop operation, the author discusses the selection of the eigenvector of INS and the expression of time-varying knowledge, and adopts the inference control strategy of detection and diagnosis stratification. Real-time detection of a limited number of important eigenvectors in the system during the operation of the changes, the fault detection, and then determine the fault diagnosis based on the test results of the scope and direction. This system is used for the three-channel dynamic test of a certain type of inertial navigation system. The actual results show the effectiveness of the constructed diagnosis system.