捷联惯导系统对惯性仪表的容错技术有多种 ,针对不同的故障形式 ,采用的方式也常常不同 ,最常用的方法一般有直接比较测量值法、奇偶向量法等 ,本文着重讨论了这两种捷联惯导的容错方法 Strapdown inertial navigation system for inertial instrument fault tolerance technology has a variety of different forms of failure, the methods used are often different, the most commonly used methods are generally direct measurement method, parity method, etc. This article focuses on this Two kinds of strapdown inertial navigation method of fault tolerance